diff --git a/docs/user-guide/models.md b/docs/user-guide/models.md
index 6515c15..56e0e09 100644
--- a/docs/user-guide/models.md
+++ b/docs/user-guide/models.md
@@ -176,6 +176,74 @@ model = CESNForecaster(
 )
 ```
 
+## ESN Controller
+
+The `ESNController` implements an Echo State Network for control tasks, where the model tracks a reference trajectory by optimizing a control input sequence.
+
+### Basic Usage
+
+```python
+from orc.control import ESNController, train_ESNController
+import jax.numpy as jnp
+
+# Create ESN controller
+model = ESNController(
+    data_dim=3,           # System input/output dimension
+    control_dim=1,        # Control input dimension
+    res_dim=500,          # Reservoir dimension
+    seed=42
+)
+
+# Train with input and control sequences
+trained_model, res_states = train_ESNController(
+    model,
+    train_seq,            # shape: (seq_len, data_dim)
+    control_seq,          # shape: (seq_len, control_dim)
+    target_seq=target_seq,
+    spinup=100,
+    beta=8e-8
+)
+
+# Compute optimal control to track a reference trajectory
+control_opt = trained_model.compute_control(
+    control_seq=initial_guess,   # shape: (fcast_len, control_dim)
+    res_state=res_states[-1],
+    ref_traj=reference           # shape: (fcast_len, data_dim)
+)
+```
+
+### Control Penalty Weights
+
+The controller optimizes a penalty function with three terms, each weighted by a tunable parameter:
+
+- `alpha_1` (default 100): **Trajectory deviation** — penalizes squared error between the controlled forecast and the reference trajectory. Higher values enforce tighter tracking.
+
+- `alpha_2` (default 1): **Control magnitude** — penalizes the squared norm of control inputs. Higher values favor smaller control effort.
+
+- `alpha_3` (default 5): **Control smoothness** — penalizes the squared norm of consecutive control input differences. Higher values produce smoother control signals.
+
+```python
+# Custom penalty weights
+model = ESNController(
+    data_dim=3,
+    control_dim=1,
+    res_dim=500,
+    alpha_1=200,    # Stricter trajectory tracking
+    alpha_2=0.5,    # Allow larger control inputs
+    alpha_3=10,     # Enforce smoother control
+    seed=42
+)
+```
+
+### Key Parameters
+
+In addition to the standard ESN parameters (`leak_rate`, `bias`, `embedding_scaling`, `Wr_density`, `Wr_spectral_radius`), the controller accepts:
+
+- `control_dim`: Dimension of the control input
+- `alpha_1`, `alpha_2`, `alpha_3`: Control penalty weights (see above)
+
+For detailed API documentation, see the [Control API Reference](../api/control.md).
+
 ## Training Functions
 
 Both ESN models use ridge regression for training the readout layer.
diff --git a/src/orc/control/models.py b/src/orc/control/models.py
index 9f9a40e..a6c933e 100644
--- a/src/orc/control/models.py
+++ b/src/orc/control/models.py
@@ -29,6 +29,12 @@ class ESNController(RCControllerBase):
         Trainable linear readout layer.
     embedding : LinearEmbedding
         Untrainable linear embedding layer for [input, control] concatenation.
+    alpha_1 : float
+        Weight for trajectory deviation penalty in control optimization.
+    alpha_2 : float
+        Weight for control magnitude penalty in control optimization.
+    alpha_3 : float
+        Weight for control derivative penalty in control optimization.
 
     Methods
     -------
@@ -57,6 +63,9 @@ def __init__(
         Wr_density: float = 0.02,
         Wr_spectral_radius: float = 0.8,
         dtype: type = jnp.float64,
+        alpha_1: float = 100,
+        alpha_2: float = 1,
+        alpha_3: float = 5,
         seed: int = 0,
         quadratic: bool = False,
         use_sparse_eigs: bool = True,
@@ -84,6 +93,12 @@ def __init__(
             Largest eigenvalue of the reservoir adjacency matrix Wr.
         dtype : type
             Data type of the model (jnp.float64 is highly recommended).
+        alpha_1 : float
+            Weight for trajectory deviation penalty in control optimization.
+        alpha_2 : float
+            Weight for control magnitude penalty in control optimization.
+        alpha_3 : float
+            Weight for control derivative penalty in control optimization.
         seed : int
             Random seed for generating the PRNG key for the reservoir computer.
         quadratic : bool
@@ -136,4 +151,7 @@ def __init__(
             control_dim=control_dim,
             dtype=dtype,
             seed=seed,
+            alpha_1=alpha_1,
+            alpha_2=alpha_2,
+            alpha_3=alpha_3
         )