Ben Recht [0] has worked on control theory and reinforcement learning.

See his blog post "What we've Learned to control" [1] and the survey paper "A Tour of Reinforcement Learning: The View from Continuous Control" [2] may be of interest.

[0]: https://people.eecs.berkeley.edu/~brecht/

[1]: https://www.argmin.net/2020/06/29/tour-revisited/

[2]: https://arxiv.org/abs/1806.09460

I learned it from a course where my professor had his own notes printed by the school bookstore for us, and I've held onto those notes like they're gold. So I can't refer you anything by firsthand knowledge, but the internet seems to like Dorf & Bishop's Modern Control Systems, which seems like a decent coverage of the basics:

https://smile.amazon.com/Modern-Control-Systems-13th-Richard...