Wave energy presents a substantial, yet underutilized, source of renewable energy characterized by high power density and predictability. This makes wave energy converters (WECs) an attractive option for enhancing the reliability and efficiency of renewable energy systems. Despite their potential, the design and optimization of WECs are fraught with challenges due to the complex marine environment, high costs, time constraints, and significant computational demands inherent in traditional design methodologies. To tackle these challenges, this thesis employs a co-design framework that integrates the physical design of WECs with their control systems. This integrated approach leverages the interplay between the WEC's structural dynamics and control strategies to enhance overall performance, thus addressing the limitations of isolated design processes.