A system for controlling a motor includes a controller module comprising a controller portion, a regulator portion and an integrator portion. The regulator portion includes a set of regulator modules communicatively coupled in a sequence. Each regulator module configured to receive a respective input signal, indicative of a target or selected value, from the controller portion or the immediately preceding regulator module in the sequence, determine a respective selectable value; select one of the respective selectable value and the value indicated by the received input signal; and provide the selected value as an output signal to the next regulator module in the sequence or the integrator module. The integrator module is configured to receive the output signal from the last regulator module in the sequence, calculate a final demand value based on the received signal, and provide an output signal indicative of the final demand value.