In this paper an approach to improve the overall performance of indirect adaptive control systems tailored for non-linear stable plants is presented. The approach involves a commutation of a linear time-varying robustness filter in the feedback path of the control loop in synchronization with an adaptive controller. The algorithm is framed in the celebrated IMC structure for predictive control systems. It can automatically suit to structural changes in the system as order and dead-time, and can deal with plants with zero dynamics. The convergence and stability of the system is analysed in details. It is shown through numeric simulations and experimentation on a heat exchanger with cooling system, that undesired transients due to abrupt and significative changes in the dynamics can be efficiently damped down by the developed control algorithm, achieving a high-quality performance in steady state.