In this chapter, we will exploit the port-Hamiltonian structure for control, going beyond passivity. We will mainly concentrate on the problem of set-point stabilization. Section 7.1 focusses on control by interconnection, by attaching a controller port-Hamiltonian system to the plant port-Hamiltonian system. Section 7.2 takes a different perspective by emphasizing direct shaping of the Hamiltonian and the structure matrices by state feedback. Other control opportunities will be indicated in Sect. 7.3; see also the Notes at the end of this chapter.