Variable geometry “morphing” structures can achieve different geometric configurations through overall deformation, but usually many actuators are required for shape control. In this talk we consider a particular type of morphing structure that is able to switch configuration with only a few actuators. It is based on the concept of embedding by design local energy minima in the configuration space of the structure. A general bar and plate structure connected by frictionless hinges can be made locally stable in a set of chosen target configurations by attaching extensional and rotational springs to the structure. The unstressed lengths and angles of the springs, as well as their stiffnesses, are the design parameters. We present a general theory to formulate the required equilibrium and stability conditions. Solutions of these equations provide specific values of the spring properties that correspond to local energy minima in all of the target configurations. Applications to reconfigurable antennas are also presented.