diff --git a/rocketpy/control/controller.py b/rocketpy/control/controller.py
index e81e70915..45e32c815 100644
--- a/rocketpy/control/controller.py
+++ b/rocketpy/control/controller.py
@@ -1,3 +1,4 @@
+import math
 from inspect import signature
 from typing import Iterable
 
@@ -17,7 +18,7 @@ def __init__(
         self,
         interactive_objects,
         controller_function,
-        sampling_rate,
+        sampling_rate=math.inf,
         initial_observed_variables=None,
         name="Controller",
     ):
@@ -72,7 +73,8 @@ def __init__(
             relevant information in the `observed_variables` list.
 
             .. note:: The function will be called according to the sampling rate
-            specified.
+            specified. If unspecified, the default sampling rate is set to infinity, meaning that the
+            controller function will be called at every step of the simulation.
         sampling_rate : float
             The sampling rate of the controller function in Hertz (Hz). This
             means that the controller function will be called every
diff --git a/rocketpy/rocket/rocket.py b/rocketpy/rocket/rocket.py
index 84655b6d7..ce7df410a 100644
--- a/rocketpy/rocket/rocket.py
+++ b/rocketpy/rocket/rocket.py
@@ -2002,6 +2002,50 @@ 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="Controller",
+    ):
+        """Creates a new discrete controller, storing its parameters such as
+        controller function, refresh rate, and interactive objects. The controller
+        will be called at the specified refresh rate during the simulation."""
+
+        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)
+
+    def add_continuous_controller(
+        self,
+        controller_function,
+        interactive_objects=None,
+        initial_observed_variables=None,
+        name="Controller",
+    ):
+        """Creates a new continuous controller, storing its parameters such as
+        controller function and interactive objects. The controller will
+        be called at every time step of the simulation."""
+
+        controller = _Controller(
+            controller_function=controller_function,
+            sampling_rate=math.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 2293d9706..45e5189a4 100644
--- a/rocketpy/simulation/flight.py
+++ b/rocketpy/simulation/flight.py
@@ -777,7 +777,14 @@ def __simulate(self, verbose):
                     self.y_sol = phase.solver.y
                     if verbose:
                         print(f"Current Simulation Time: {self.t:3.4f} s", end="\r")
-
+                    for controller in self._continuous_controllers:
+                        controller(
+                            self.t,
+                            self.y_sol,
+                            self.solution[:-1],
+                            self.sensors,
+                            self.env,
+                        )
                     if self.__check_simulation_events(phase, phase_index, node_index):
                         break  # Stop if simulation termination event occurred
 
@@ -1576,6 +1583,9 @@ def __init_equations_of_motion(self):
     def __init_controllers(self):
         """Initialize controllers and sensors"""
         self._controllers = self.rocket._controllers[:]
+        self._continuous_controllers = [
+            c for c in self._controllers if math.isinf(c.sampling_rate)
+        ]
         self.sensors = self.rocket.sensors.get_components()
 
         # reset controllable object to initial state (only airbrakes for now)
@@ -4488,6 +4498,9 @@ 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 = [