This research shows a design and implementation methodology for filters and digital controllers that can be implemented in any general purpose embedded system and even those systems that base their processor on low cost microcontroller type embedded systems, this methodology clearly shows how crucial maximum values such as sampling frequency are found , cut-off frequency The STM32F401 is a digital filter with a digital controller, which can be easily migrated to a highly complex digital controller, This is done taking into account that when designing a digital filter and/or a digital controller you have a wide spectrum of applications in different branches of engineering, but a big step is taken for real implementations in real time digital controls applied to robotics. It is well known that when high order filter and/or controller orders are needed digital designs are far ahead of their analog counterparts; But all these advantages are linked to disadvantages in its implementation, even more when you want to implement solutions that work in real time, for applications where you cannot use an embedded system of specific purpose as are the DSP's (Digital Signal Processor) due to its great economic cost, and must opt for general purpose and low cost embedded microcontroller type systems, as a viable alternative for their developments. These devices, although more affordable in cost, have lower performancefeatures that compromise the operation of the system, limiting the sampling frequency and its computational capacity to perform high order filters and controllers.