In this paper, we develop a novel data-driven method for Deformable Mirror (DM) control. The developed method updates both the DM model and DM control actions that produce desired mirror surface shapes. The novel method explicitly takes into account actuator constraints and couples a feedback control algorithm with an algorithm for recursive estimation of DM influence function models.In addition to this, we explore the possibility of using Walsh basis functions for DM control. By expressing the desired and observed mirror surface shapes as sums of Walsh pattern matrices, we formulate the control problem in the 2D Walsh basis domain. We thoroughly experimentally verify the developed approach on a 140-actuator MEMS DM, developed by Boston Micromachines. Our resultsshow that the novel method produces the root-mean-square surface error in the 14 − 40 nanometer range. These results can additionally be improved by tuning the control and estimation parameters. The developed approach is also applicable to other DM types, such as for example, segmented DMs. I. INTRODUCTION Deformable Mirrors (DMs) are one of the main components of Adaptive Optics (AO) systems [1], [2]. A typical DM consist of a reflective optical surface that is deformed by a set of actuators. By precisely shaping the surface of a DM, we can compensate for wave-front aberrations in AO systems [3]-[16].In this paper, we consider the problem of developing control algorithms for DMs. There are a large number of approaches for DM control. A complete survey of all the methods goes well beyond the length limits of this manuscript. Consequently, we briefly mention only the most