A method for adaptively controlling a Radio Frequency IDentification (RFID) system having a plurality of interrogating antennas and RFID tags. The method comprises the steps of establishing a timeout setting indicative of the time that each interrogating antenna powers a read field during a respective read period and a threshold time period indicative of the time required to transmit energy/exchange data between the RFID tag and the interrogating antenna. A period differential is then calculated which is indicative of the difference between the timeout setting and the time elapsed for the final RFID tag within a respective read field to communicate its RFID tag information. The timeout setting for each interrogating antenna may then be adaptively tuned or varied in accordance with the period differential. To expedite and/or refine the adaptive tuning feature, a variance may also be calculated indicative of the difference between the threshold time period and the period differential. The timeout setting may be decremented when the threshold time period is greater than the period differential and/or variance and incremented when the time period is less than the period differential and/or variance. Such variation of the timeout setting is evaluated with each interrogation cycle of the RFID system.