In this work an adaptive strategy for state dependent switching systems in Brunovsky form is presented. Lyapunov direct method is used to derive the adaptive control law to track a given reference signal. The resulting controller is equipped with a set of adaptive gains able to tackle plant commutations. Control gains are adapted through a feedback law depending on the state space region visited by the system trajectories. A consistent proof of convergence of the tracking error is given and a numerical example is used to illustrate the analytical result.