We study quantum control of the full hyperfine manifold in the ground-electronic state of alkali-metal atoms based on applied radio frequency and microwave fields. Such interactions should allow essentially decoherence-free dynamics and the application of techniques for robust control developed for NMR spectroscopy. We establish the conditions under which the system is controllable in the sense that one can generate an arbitrary unitary map on the system. We apply this to the case of Cs with its d=16 dimensional Hilbert space of magnetic sublevels in the 6S1/2 state, and design control wave forms that generate an arbitrary target state from an initial fiducial state. We develop a generalized Wigner function representation for this space consisting of the direct sum of two irreducible representations of SU 2 , allowing us to visualize these states. The performance of different control scenarios is evaluated based on the ability to generate a high-fidelity operation in an allotted time with the available resources. We find good operating points commensurate with modest laboratory requirements.