My managers at Saab, Ulrik Pettersson and Henrik Pettersson; you gave me important sup- port and found time when I needed it. A special thank goes to Sören Steinkellner who in- spired me and often took me down from the ‘abstract heights’. At Saab, there are many col- leagues and co-authors that I want to thank; Ingela Lind, Magnus Carlsson, and many more. Thanks also to Lars Karlsson, Magnus Jomander, Kristoffer Johansson, Robert Lindohf and all of you in the EMMA team and at the Saab Simulator-Center who provided me with chal- lenges, knowledge, and data for this research. I also wish to thank members of the Machine Design and Fluid and Mechatronic Systems divisions for your friendship and valuable feed- back. I am also grateful to the ProViking research school and all inspiring PhD students.