In EECS every undergrad does learn a bit of control/systems theory in their sophomore and junior requirements. I loved it but it was mathematically challenging and unfortunately the better background a student already had, the better and the more they got out of the courses. I wish there were a better way, because the result was students eventually got weeded out by an (inhumane, alienating) competitive system, rather than have each student actually learn something well on their own level.