Biology motivates tensegrity structures, where axially loaded members avoid bending the material, providing more robust and reliable structures and structural models. This talk shows how to use control theory to solve form-finding problems, and also to perform shape-changing maneuvers of the final structure. 5 fundamental problems in Engineering Mechanics are addressed and resolved: what is the minimal mass structure for compressive loads? for bending (cantilevered, torsional, and simply-supported) loads? for tensile loads with a stiffness constraint? Tensegrity design examples shown include wings, space habitat, and bridges covering water canals to stop evaporation loss.