I absolutely recommend Russ Tedrake‘s online course on Underactuated Robotics (mostly nonlinear control) and Magnus Egerstedt’s course on linear control. The latter is not a formal prerequisite of the former, but it helps if you know some of the concepts. Russ’ course is just amazing, and extremely rich in mathematical concepts and algorithmic tools. He insists on providing visual intuition for almost every single concept that he introduces, which is great. I’ve recommended it to everyone who cared to listen. Some of my friends and I are currently taking the course.