diff --git a/RBF_tf.py b/RBF_tf.py
index 6557def..63615b9 100644
--- a/RBF_tf.py
+++ b/RBF_tf.py
@@ -99,3 +99,20 @@ class RBFAdaptiveModel(tf.keras.Model):
         rbf_output = self.rbf_layer(inputs)
         control_signal = self.output_layer(rbf_output)
         return control_signal
+
+def train_rbf_adaptive(model, errors, control_signals, epochs=100):
+    """ Training method for the RBF adaptive model.
+
+    Parameters
+    ----------
+        model : RBFAdaptiveModel
+            A RBF Adaptive Model instance. 
+        errors : ndarray
+            Multi-sample training data, [error, derivative, integral].
+        control_signals : ndarray
+            Control signal target values.
+        epochs : int
+            Number of epochs to train for.
+    """
+    model.compile(optimizer="adam", loss="mean_squared_error")
+    model.fit(errors, control_signals, epochs=epochs, verbose=1)