Do you have a good reference? Preferably one that mentions a control application because I’m curious to see what the model assumptions and speed look like in that context

You can start with a review [1], and then BRML [2]. I think applications that are very focused on control tend to come from the military and thus not so well documented.

[1] An introduction to factor graphs. https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1267047

[2] Bayesian Reasoning and Machine Learning. http://web4.cs.ucl.ac.uk/staff/D.Barber/textbook/200620.pdf