Implementing Control Systems Architecture with model based design using the appropriate tool box in MATLAB and Simulink . Embedded C-code for the controller designed  can also generated to be used on Hardware (Raspberry pi, Arduino, Esp 32, Android, IOS) with entry and exit point specified for integration with other codes. The control strategy required could be decided based on the system performance required.  However, the control system architecture would consist of the basic components a  controller( variations of PID, LQR, Iterative LQR, MPC adaptive MPC, gain scheduled MPC, Non-Linear MPC, Robust controller) , A State Estimator( Kalman filter, Extended Kalman filter, Unscented Kalman filter), senor data processing and fusion(Complimentary filter, Particle Filter) and other blocks to control the flow of the control system.