Tuning a controller is not always the hardest part. Its implementation in a real-world control loop requires additional efforts: One might have to be able to (gracefully) turn the controller on or off, modify its parameters while in operation, and deal with unwanted behaviors such as measurement noise, actuator limitations, or time delays in the control loop. This is usually easier said than done. In this chapter, we examine some of these issues and try to offer solutions that maintain the simplicity we consider a vital part of the “ADRC spirit.”