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.
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:
