Reddit reviews Computer-Controlled Systems: Theory and Design (3rd Edition)
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> model-based RL seems to borrow a lot of things from Control Theory, for example, LQR, iLQR, DDP
Not to mention, MPC!
Anyways a textbook I had in a digital control course was Computer Controlled Systems, in case that's any help.
Make sure you get a thorough understanding of the Kalman filter, plenty of resources for that.