If you said Elon Musk is the first person who found the Tesla company then you are wrong. Tesla was a startup company found by Martin Eberhard and Ian Wright in 2003. Tesla was later funded by Elon Musk when the company want to produce a production model for the Tesla Roadster.
Martin Eberhard was the original CEO before asked by the board of directors to step down. Elon Musk had invested a lot of money in Tesla and it is no surprise he want to take control the company later on to ensure his investment is safe. The following video explain the untold story of Tesla.