diff --git a/rocketpy/rocket/rocket.py b/rocketpy/rocket/rocket.py
index e3692d2e8..9800d9e46 100644
--- a/rocketpy/rocket/rocket.py
+++ b/rocketpy/rocket/rocket.py
@@ -1952,6 +1952,46 @@ def add_thrust_eccentricity(self, x, y):
         self.thrust_eccentricity_y = y
         return self
 
+    def add_discrete_controller(
+        self,
+        controller_function,
+        refresh_rate,
+        interactive_objects=None,
+        initial_observed_variables=None,
+        name=None,
+    ):
+
+        controller = _Controller(
+            controller_function=controller_function,
+            sampling_rate=refresh_rate,
+            interactive_objects=interactive_objects,
+            initial_observed_variables=initial_observed_variables,
+            name=name,
+        )
+
+        self._add_controllers(controller)
+
+        return self
+
+    def add_continuous_controller(
+        self,
+        controller_function,
+        interactive_objects=None,
+        initial_observed_variables=None,
+        name=None,
+    ):
+
+        controller = _Controller(
+            controller_function=controller_function,
+            sampling_rate=np.inf,
+            interactive_objects=interactive_objects,
+            initial_observed_variables=initial_observed_variables,
+            name=name,
+        )
+
+        self._add_controllers(controller)
+        return controller
+
     def draw(self, vis_args=None, plane="xz", *, filename=None):
         """Draws the rocket in a matplotlib figure.
 
diff --git a/rocketpy/simulation/flight.py b/rocketpy/simulation/flight.py
index 1443d1d80..1104769af 100644
--- a/rocketpy/simulation/flight.py
+++ b/rocketpy/simulation/flight.py
@@ -4497,6 +4497,9 @@ def add_parachutes(self, parachutes, t_init, t_end):
 
         def add_controllers(self, controllers, t_init, t_end):
             for controller in controllers:
+                # Skip node creation for continuous controllers
+                if math.isinf(controller.sampling_rate):
+                    continue
                 # Calculate start of sampling time nodes
                 controller_time_step = 1 / controller.sampling_rate
                 controller_node_list = [