I think it is a very worthwhile purpose to try and keep your fruit trees down to a reasonable height. It is the only practical way to go if you have ambitions to care for your trees properly in pruning thinning pest control and last but not least picking. In back gardens near me I see apple and pear trees over 20 feet high which are absolute havens for pests and diseases, and cannot even be picked by their ageing owners, so sadly 90% of their fruit goes to waste and what is worse their owners take little pride in their fruit trees, seeing them more as a burden than a source of pleasure.
I'm afraid I cannot offer you much practical advice, only cautions. As others on this forum have already said, damsons and plums do not respond at all well to pruning and are best left alone as much as possible. If it is absolutely essential to cut them, only do so whilst the trees are growing strongly in summer or they are liable to contract the dreaded Silver Leaf disease which is a fatal fungus.
On a more positive note, apples and pears generally are easier to control than stone fruit. Apples have a wide choice of rootstocks, whereas pears are more tolerant of pruning. The foregoing does of course depend on variety, amongst apples for example it is hopeless to try holding a Bramley in check but a James Grieve is more biddable.