Hi Dennis,
If you have not read it already, I highly recommend "Digital Apollo"
by David A. Mindell.
Mindell is Professor of Aeronautics and Astronautics, and Dibner Professor of the History of Engineering and Manufacturing at the Massachusetts Institute of Technology.
As you will be aware, MIT played a key role in designing the guidance systems, computers and software that took us to the moon.
Mindell's book describes the philosophy and design that that went into the pilot-machine loop.
https://www.amazon.com/Digital-Apoll.../dp/B0031AI0X0