In the twinkling of an eye, 4-year Ph.D. study has passed. The countless times of preparations, group discussions, conducting research work, writing papers, rebuttal with reviewers and so forth has been flooded with my Ph.D. study, and in turn, reflected in this dissertation.First of all, I am in the mood for giving my warmest thanks to Dr. Gaoxi Xiao, my main supervisor. Without his guidance and continuous encouragement, the thesis would hardly have been completed. He always provides me with timely, specific and valuable comments and feedback that play a critical role in my research progress. Every discussion with him enlightens me a lot and all of these become invaluable to my future career.Secondly, I go for expressing gratitude to my cooperators, Dr. Yunde Xie and Dr.Chao Zhai. Their help and support have made my research smoothly. I enjoyed every discussion and chatting with them a lot. Their expertise in optimization and controller design was a profound influence in promoting the work.Then, I feel like to thank my co-supervisor, Dr. Tso-Chien Pan, my mentor Dr.