Energy is actually rather hard to define---all textbooks seem to admit this.
This is reasonable since loosely speaking, how much energy is available sets a limit on how much change/transformation is possible
This definition is also useful.
Energy has many forms and all are transformable into other forms---NOT necessarily easily---and energy is a conserved quantity. The transformation between energy forms is done by forces: e.g., the electromagnetic force and the gravitational force.
Calling energy the "essence of structure" also makes sense since a useful description of a physical structure can be given in terms of the various amounts of energy it has. Note, "useful descripton", NOT "complete description".
As the discussion above suggests, energy is a somewhat abstract thing---but we're used to abstract things like money.
What good is energy?
Energy methods allow many kinds of analysis that harder by other methods.
They often give you partial information easily. For example, something can happen if there is enough energy, but not otherise.
By the by, there has always been some mystery about the pronunciation of the surname Joule and even Joule's contemporaries were uncertain about the pronunciation of his name. In fact, the mystery was even used in an advertisement for his beer: "However you pronounce it, it tastes great." (quoted from memory). Which mystery led yours truly to versification:
The unit of energy is the joule
and this rhymes with drool,
but it should rhyme with bowel
to be correct for James Joule.
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