Dunno if this is immediately helpful, but if you can do differential equations, Doug McLean's book is good. Entertaining and informative YouTube lecture:
https://www.youtube.com/watch?v=QKCK4lJLQHU
P.s. Or are you looking for help with control theory ?
Last edited by PAX_Britannica; 12th August 2016 at 15:31.
Reason: P.s.