In order to improve aircraft flight control system development life cycle, new flight control techniques are being explored to allow the system to "learn-to-fly" with limited a priori information of the aircraft's aerodynamic characteristics. One approach is to have a system identification process operating on-the-fly to generate mathematical models which can be used to update control laws. In this thesis, a wind tunnel experiment was conducted with a model aircraft set up to be free-to-roll, so system identification and control methods could be explored for a one-degree-of-freedom case. In particular this thesis covers the design of a novel control system that uses mathematical models of a predetermined form with certain unknown parameters to achieve satisfactory roll control for the free-to-roll experiment. The mathematical model was updated on-the-fly by a separate process that is outside of the scope of this thesis, which performs system identification in real-time.