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Some things certainly can be modelled, but for others it is easier to simply try. For example, will applying a positive current to the motor make it spin in the clockwise or counterclockwise direction? It really depends on the behaviour and configuration of the motor controller, and in this case it was easier for me to just try.

The trick is to do these tests at a sufficiently low level, because that’s usually where these issues are, in my experience.

> sufficiently low level

Final try at ground level:

https://www.spacesafetymagazine.com/space-disasters/rocket-f...

I think it's possible. But you'd have to be really careful with your equations, then have to be really careful to know which direction is positive in each signal and make sure to make the wiring and/or math match that. I can see why some trial and error would be easier than completely rechecking things when they don't work.

Does anyone know what I have to learn to "know" about this theory? Is it control theory and classical mechanics?

Pretty much yes. I expect the heavy lifting is just math.

Of course. The OP was modeling it theoretically, but making mistakes.