BPS.space of 'model rocket version of Falcon Heavy' fame has a very good overview/introduction as part of a lecture to other model rocket builders: https://www.

BPS.space of 'model rocket version of Falcon Heavy' fame has a very good overview/introduction as part of a lecture to other model rocket builders: https://www.youtube.com/watch?v=4cw9K9yuIyU https://www.youtube.com/watch?v=4cw9K9yuIyU It's a dynamic control loop.