FWIW, TTWIMC:
This topic, and other conversations relating to closed loop/feedback always take my mind back to the "Control Systems" class I took in school. Taught by Dr. Richard Dorf at UC Davis, textbook authored by same and R. Bishop. And actually lead by Dr. Dorf himself. No TAs.
I just found this on the UC Davis site:
There are a few educators that stood out in my education, and I count Dr. Dorf as one of them. I am saddened to find this news, but very honored to have had the opportunity to be taught by him. I wish I'd kept the textbook.
Dave
Dave Peterson