Life is not easy. Finishing a PhD is not easy. One of the good things about the PhD is that you get a chance at the end to say thank you to the people who have helped you, which you might not get in life. This is my attempt to thank the ones who have helped me go through with this project. I'll start and end these acknowledgments with people without whom I think there would be no thesis (or not this, my thesis at least, others might still be able to write theirs). To my supervisor Dr. Martin Enqvist: I think I would have given up a long time ago if it wasn't for your encouragements. I am really impressed with how you always have time (or rather, take the time) to answer questions or concerns, and without feeling stressed. I know you have lots of other things to do and I really appreciate it. I also like how you can turn things around for a positive spin. Thank you for pushing me through this! Prof. Lennart Ljung and Prof. Torkel Glad, thanks for being co-supervisors and providing input. I should have talked, asked and learned more! I have had the pleasure of having three different bosses, who have all helped me sort out the work situation when life gets in the way. Prof. Lennart Ljung, Prof. Svante Gunnarsson and Dr. Martin Enqvist, you all seem to be able to guide the group forward as well as see the people and how to help. Lennart, thanks for letting me join the group! Svante, without your flexibility and willingness to adapt I could not have finished this thesis. Thank you! Martin, thanks for making every day bring-your-baby-to-work ! I am also grateful for the administrative help from Ninna Stensgård and her predecessor Åsa Karmelind. The upside of being on the slow side finishing your PhD is that you get to meet a lot of colleagues. I have really appreciated the Automatic control group and the amazing people in it! It is a group full of brilliant, fun, and hard working people, thank you all! I think my current office mate Kerstin is my favorite, but Patrik Leissner, Maryam Sadeghi Reineh and Gustaf Hendeby, you tie for second place (and you were all far less demanding)! Many colleagues I also consider friends and hope I will still see a lot of you in the future. Special shout outs to Manon Kok (for staying in touch and being a good friend), Daniel Petersson (for pepp and believing in me), Patrik Leissner (for friendship and helpfulness