A configurable controller for controlling a physical plant having associated therewith a plurality of actuators for controlling operation of the physical plant and a plurality of sensors for observing a plurality of characteristics of the physical plant operations, the configurable controller comprising: a state observer configured to capture the current state of the physical plant by communication with the plurality of sensors; and a low level controller configured to control behavior of the physical plant using at least the actuators; and an engine control unit (ECU) coupled to the low level controller, characterized in that the ECU is configured for analyzing the state of health (SOH) of the physical plant by: using one or more models for the physical plant, estimate an operating value of a first parameter in the physical plant; using a sensor, measuring an operating value of the first parameter in the physical plant; comparing the estimated value to the measured value for the first parameter to calculate a difference in the first parameter; and calculating SOH of the physical plant using the difference in the first parameter, wherein the physical plant is an internal combustion engine having associated therewith a turbocharger having a compressor, and wherein the low level controller uses a compressor map for the turbocharger, further wherein the ECU is adapted to modify the compressor map using the SOH. a state observer configured to capture the current state of the physical plant by communication with the plurality of sensors; and a low level controller configured to control behavior of the physical plant using at least the actuators; and an engine control unit (ECU) coupled to the low level controller, characterized in that the ECU is configured for analyzing the state of health (SOH) of the physical plant by: using one or more models for the physical plant, estimate an operating value of a first parameter in the physical plant; using a sensor, measuring an operating value of the first parameter in the physical plant; comparing the estimated value to the measured value for the first parameter to calculate a difference in the first parameter; and calculating SOH of the physical plant using the difference in the first parameter, wherein the physical plant is an internal combustion engine having associated therewith a turbocharger having a compressor, and wherein the low level controller uses a compressor map for the turbocharger, further wherein the ECU is adapted to modify the compressor map using the SOH. using one or more models for the physical plant, estimate an operating value of a first parameter in the physical plant; using a sensor, measuring an operating value of the first parameter in the physical plant; comparing the estimated value to the measured value for the first parameter to calculate a difference in the first parameter; and calculating SOH of the physical plant using the difference in the first parameter, wherein the physical plant is an internal combustion engine having associated therewith a turbocharger having a compressor, and wherein the low level controller uses a compressor map for the turbocharger, further wherein the ECU is adapted to modify the compressor map using the SOH. <EOS>