In a tensegrity structure, the rigid bodies (i.e., the bars) might not have any contact, thus providing extraordinary freedom to control shape by controlling only tendons. This book discusses analytical tools for designing energy efficient and lightweight structures that embody the concept of tensegrity. It provides both static and dynamic analysis of special tensegrity structural concepts, which are motivated by biological material architecture. It is the first book that integrates structure and control design; other books on structure and control design assume that these are independent topics. Readers discover important benefits and applications of tensegrity systems in deployable solar arrays, large mirrors and antennas, wings without hinges, robotic systems without joints, and string lightweight columns, walls, bridges, and buildings.