1. A computer-implemented method for simplifying a model of a robot, comprising: receiving the robot model and a controller, wherein the received robot model includes one or more equations with mass and dynamic properties of the robot used to simulate motion of the robot, and wherein the controller is configured to compute inputs to the received robot model for achieving one or more control objectives; receiving task-specific output corresponding to a task or motion to be performed; and performing, via one or more processors, a search on an order of the received robot model to obtain a minimum stable reduced order robot model and a first stabilizing controller associated therewith given the received robot model, the controller, and the received task-specific output, wherein the first stabilizing controller also stabilizes the received robot model.