Explore feedback control theory architectures and tools for real-time decision making in this lecture by Richard Murray from Caltech. Delve into control systems, design patterns, and PID control. Examine integral feedback, robustness, and feedback design principles. Learn about reachability tests, control design, and constraint optimization. Understand the inner loop, receding horizon control, and the design process. Investigate design iterations, feedback loops, temporal logic, and system specifications. Gain valuable insights into the application of control theory in real-time decision-making scenarios.