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Electrical power systems are transitioning from fuel-based generation to renewable generation and transmission interfaced by power electronics. This transition challenges standard power system modeling, analysis, and control paradigms across timescales from milliseconds to seasons. This tutorial focuses on frequency stability on timescales of milliseconds to seconds. We first review basic results for grid-following (GFL) and grid-forming (GFM) control of voltage source converters (VSCs), typical renewable generation, and high voltage direct current (HVdc) transmission. In this context, it becomes apparent that GFL and GFM control functions are needed to operate emerging power systems. However, combining GFL resources, GFM resources, and legacy generation on the same system results in highly complex dynamics that are a significant obstacle to stability analysis. The remainder of the tutorial provides an overview of recent developments in universal GFM controls that bridge the gap between GFL and GFM control and provide a pathway to a coherent control and analysis framework accounting for power generation, power conversion, and power transmission.