Embedded systems are becoming more and more popular in controls and automation. They are powerful enough to compete, in some domains, with conventional control solutions based, for example, on VME technology. This paper describes the generic embedded system solutions for EPICS based control systems. It presents the hardware and software issues when dealing with embedded systems. It shows a concrete example of the embedded system build on FPGA concept which could be used as a generic solution. It is discussed, at the end, the usage of the EPICS general purpose driver which could be used directly for memory mapped embedded devices under VxWorks or Linux operating systems.