[dgoldstein0]

I think it's possible. But you'd have to be really careful with your equations, then have to be really careful to know which direction is positive in each signal and make sure to make the wiring and/or math match that. I can see why some trial and error would be easier than completely rechecking things when they don't work.

[corethree]

Does anyone know what I have to learn to "know" about this theory? Is it control theory and classical mechanics?

[YZF]

Pretty much yes. I expect the heavy lifting is just math.