Machinery and Controls Laboratory (ROMAC). The technical and social experiences that I have gained under his guidance will last a lifetime. I am thankful to Dr. Timothy Dimond for his fullfledged support and guidance throughout my time in ROMAC. I am especially thankful for his advising and mentoring at a very difficult time. This thesis would have not been made possible without both Prof. Allaire and Dr. Dimond. I would also like to mention my thesis committee Prof. Houston Wood, Prof. George Gillies, Prof. Andre Clarens and Dr. Wei Jiang for providing me with their valuable insights to shape up this thesis. I would like to thank all my colleagues who helped me shape up this thesis. I would like to specially mention Mr. Jason Kaplan for his time in helping me with the ROMAC codes and Mr. Parinya Ananthachaisilp for his enthusiasm and patience in helping me understand the controller design. I shall always be indebted to my family for their constant support and encouragement during this time period. I would like to thank my wife, Subhashini Vel, for being there for me whenever I needed help or a shoulder. I am thankful to my parents, Muthaiyan Kailasan and Thangamani Kailasan, for showing me the right path when in doubt. I would also like to thank my sister, Dr. Kruthikaveni Kailasan, and my brother in law, Dr. Vinodh kumar, for being a pillar of strength and support. Special thanks to my nephew, Vishaal Vinodhkumar, for helping me balance work and play. I would like to end my note by mentioning that my graduate life at ROMAC and UVA has provided me with the necessary tools to succeed in my career and more importantly, to succeed as a human being.