I've been recently playing a game called Approximately Up. You start from simple building blocks, thrusters and can use the in game logic system to build complex controls. One of the things I came about to learn was something to make a hover system for my ship was a simple PID controller. The side and bottom firing thrusters just remind me of my ship in the game. While the game is oversimplified and a bit arcadey, does anyone know what actually goes into this in the real life and is the huge feat the improvement on the weight of the whole car?

SpaceX uses convex optimizers, like CVX.

https://ocw.mit.edu/courses/6-079-introduction-to-convex-opt...