This guide is intended to make an advanced engineering topic approachable so it can be applied by those who aren’t experts in control theory. The intended audience is high school students who are members of a FIRST Robotics Competition team. As such, they will likely have passing knowledge of PID control and have basic proficiency in programming. This guide will expand their incomplete understanding of control theory to include the fundamentals of classical control theory, enough linear algebra to understand the notation and mechanics of modern control, and finally how to apply modern control to design challenges they regularly see in their FRC robots from year to year.