Yeah I’ve been involved in stuff on that level by pulling in a library in a university project. But there were higher level research projects going on where they were going into real nitty gritty fine control, I think they had a control model with an obscene number of degrees (as in xth order physical model implemented as a PPIIIIDDD system or whatever). That was a little intuitive since there was a physical process that you can observe.

But the theory is definitely something I’d like to at least understand a little