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The problem of control of the vertical instability is studied for a massless filamentary plasma with finite resistivity included for the shell and active control coil. Stability boundaries are determined. The system can be stabilized up to a critical decay index, which is predominantly a function of the geometry of the passive stabilizing shell. A second, smaller, critical index, which is a function of the geometry of the control coils, determines the limit of stability in the absence of derivative gain in the control circuit. The system is also studied numerically in order to incorporate the non-linear effects of power supply dynamics. The power supply bandwidth requirement is determined by the open-loop growth rate of the instability. The system is studied for a number of control coil options which are available on the DIII-D tokamak. It is found that many of the coils will not provide adequate stabilization and that the use of inboard coils is advantageous in stabilizing the system up to the critical index. A hybrid control system which utilizes such inboard coils on a time-scale which is faster than the vessel L/R time is proposed. Experiments carried out on DIII-D confirm the appropriateness of the model. Using the results of the model study, DIII-D plasmas with decay indices exceeding 90% of the critical index have been stabilized. Measurement of the plasma vertical position is also discussed.