If you do not need to run separated Platform Service Controllers, the installation procedure is the same except in step 3 of the installation wizard. At this point, select vCenter Server with an Embedded Platform Services Controller as the deployment type:

In stage 2 of the installation, instead of pointing your vCenter Server to the Platform Service Controller, you will have an option to create new SSO domain – a similar one as with PSC stage 2 configuration.

If you do not need to run separated PSCs (for example, because of the mixture of vCSA and vCenter Server for Windows), there is no need to run a dedicated PSC.