The functionality and complexity of real-world engineering control systems is increasing significantly due to continuous growth in requirements and their details. Since this trend is predicted to grow even stronger, the old control solutions will be becoming less and less efficient. There are several approaches to designing modern control systems that meet the current and future needs. In this paper, we focus on one of the promising ways to control engineering: Embedded Systems. We describe categories of embedded systems and an engineering approach to control systems design based on the embedded systems. All related challenges are presented considering weaknesses of traditional systems. For the described embedded control system, a design methodology is given as well. Our discussion focuses on approach based on Field-Programmable Gate Array (FPGA) as a solution with huge potential. Finally, we share our thoughts on further trends in modern embedded control systems.