  In this paper we conduct a priori and a posteriori error analysis of the
$C^0$ interior penalty method for Hamilton-Jacobi-Bellman equations, with
coefficients that satisfy the Cordes condition. These estimates show the
quasi-optimality of the method, and provide one with an adaptive finite element
method. In accordance with the proven regularity theory, we only assume that
the solution of the Hamilton-Jacobi-Bellman equation belongs to $H^2$.
