I am going to start by thanking my supervisors Manuel Berenguel and Lidia Roca for their guidance and support. Manuel Berenguel was my professor in the Bachelor's Degree in Industrial Electronics Engineering. I still remember the first email I exchanged with him and the first time I went to his office, all this ended with me heading to Brescia (Italy) for six months (where I lived a rewarding experience indeed, Antonio thank you for your welcome, hospitality and help). From that first moment on, you have known how to transmit to me the curiosity and enthusiasm for research in general, and the passion for automatic control in particular, encouraging me to get involved in a new world that I had never imagined. Lidia, I also remember the first time I met you at the Plataforma Solar de Almería when I started my final degree work. From the beginning, and long before starting the Ph.D. thesis, you have played a fundamental role in my progress. I would not know how to express in words all the support you have given me, thanks for always listening to my ideas and for being willing to help me in everything I have needed. Manolo and Lidia, thank you very much for your patience, for understanding and trusting me, and for all the knowledge and experiences that you have transmitted to me; everything together has helped me grow both academically and personally. Both of you have my admiration, appreciation and respect.