I had the opportunity a while ago of collecting off the web a bunch of good resources on electronic measurement. A few were particularly enlightening. These could be useful to someone designing a controller. More could be added if there is interest.
Analog Devices Application Note AN-345 Grounding for Low and High Frequency Circuits - Know your ground and signal paths for effective designs - Current flow seeks path of least impedance, not just least resistance. Particularly figures 10 and 11.
Analog Devices Application Note AN-345 Shielding and Guarding - How to Exclude Interference Type Noise - What to Do and Why to do it - A Rational Approach
Electronic Measurement
Electronic Measurement
In theory there is no difference between theory and practice, but in practice there is.