  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 be incorporated within 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 controller, either state-feedback or
output-feedback, and provide deployment architectures for the standard SLS
controllers. Furthermore, we derive new controller realizations for open-loop
stable systems and introduce different state-feedback and output-feedback
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.
