are there any good ways of making myself have lucid dream and control it
They have something called Wake induced lucid dreaming...it is kind of like being in a hypnotic state, but controlling your thoughts. If you go to Wikipedia, there is an entire section on lucid dreaming and all the different types and methods of lucid dreaming.
http://en.wikipedia.org/wiki/Luciddream#Wake-initiationofluciddreams_.28WILD.29