Infrequent homework assignments; you had to read a little in preparation for class to fully understand the material. There were lots of group projects and they really helped reinforce the course topics by forcing you to use them in the design of an actual device. Knospe is a genius when it comes to this material and it's a unique opportunity to learn from him. Be forewarned: controls is a math-heavy subject (but this an intro class so it's not super difficult)