The blur that you are getting is down to the shutter speed being to slow for the focal length that you are shooting at. There are various ways to try and get around this.
The easiest way is to hold the camera more steadily (this may sound obvious but the first lesson I generally teach people is how to hold the camera better, don't hold the camera out, as your hands will shake, which is one of the reasons you get blur, position you feet apart (in an open stance), generally I put one foot in slightly in front of the other, Generally I will have my elbows into my chest, whilst having the camera held up, take a breath before you shoot, so the body isn't moving. This might not work at x18 zoom as this is a long distance.
Use support or a tripod/monopod. If you can balance the camera on something it will make a big difference, if you can't do that support yourself against something, so you are not swaying around.
The S9100 if I remember correctly doesn't have manual/shutter/aperture priority but does have various scenes, so which increase or decrease the shooting speed appropriately. Something like sport will have a faster shooting speed, but remember, your photos will be darker as the sensor is exposed to less light.
Shooting in good light. This make a big difference, if you haven't got good light the camera will naturally compensate by changing the shutterspeed and aperture to get the right amount of light onto the sensor, thus slowing the speed that you are shooting. You can compensate this by having a higher ISO but the higher you go the more noise that you get on the photos. This is a much bigger issue with compact cameras, like the S9100 because it has a smaller sensor.
Hopefully this will make a difference to your shooting.