  We consider the problem of how to deploy a controller to a (networked)
cyber-physical system (CPS). Controlling a CPS is an involved task, and
synthesizing a controller to respect sensing, actuation, and communication
constraints is only part of the challenge. In addition to controller synthesis,
one should also consider how the controller will work in the CPS. Put another
way, the cyber layer and its interaction with the physical layer need to be
taken into account. In this work, we aim to bridge the gap between theoretical
controller synthesis and practical CPS deployment. We adopt the system level
synthesis (SLS) framework to synthesize a state-feedback controller and provide
a deployment architecture for the standard SLS controller. Furthermore, we
derive a new controller realization for open-loop stable systems and introduce
four different architectures for deployment, ranging from fully centralized to
fully distributed. Finally, we compare the trade-offs among them in terms of
robustness, memory, computation, and communication overhead.
