diff --git a/pyconsys/DControl.py b/pyconsys/DControl.py
index 9454a06..2b03397 100644
--- a/pyconsys/DControl.py
+++ b/pyconsys/DControl.py
@@ -15,6 +15,11 @@ def __init__(self, kd=1):
         self._kd = kd
         self._xe_old = 0
 
+    def reset(self, kd):
+        """ resets the unit """
+        self._kd = kd
+        self._xe_old = 0
+
     def get_xa(self, xe):
         """ give input, get output
         Parameters:
diff --git a/pyconsys/DelayControl.py b/pyconsys/DelayControl.py
index 5b53c4f..a752961 100644
--- a/pyconsys/DelayControl.py
+++ b/pyconsys/DelayControl.py
@@ -16,6 +16,12 @@ def __init__(self, delay=0):
         self._queue = queue.Queue()
         self._counter = 0
 
+    def reset(self, delay):
+        """ resets the unit """
+        self._delay = delay
+        self._counter = 0
+        self._queue.queue.clear()
+
     def get_xa(self, xe):
         """ give input, get output
         Parameters:
diff --git a/pyconsys/IControl.py b/pyconsys/IControl.py
index f7cd8fe..b0005be 100644
--- a/pyconsys/IControl.py
+++ b/pyconsys/IControl.py
@@ -15,6 +15,11 @@ def __init__(self, ki=1):
         self._ki = ki
         self._sum = 0
 
+    def reset(self, ki):
+        """ resets the unit """
+        self._ki = ki
+        self._sum = 0
+
     def get_xa(self, xe):
         """ give input, get output
         Parameters:
diff --git a/pyconsys/PControl.py b/pyconsys/PControl.py
index f758a69..257b5e5 100644
--- a/pyconsys/PControl.py
+++ b/pyconsys/PControl.py
@@ -14,6 +14,10 @@ def __init__(self, kp=1):
         kp(float): Kp"""
         self._kp = kp
 
+    def reset(self, kp):
+        """ resets the unit """
+        self._kp = kp
+
     def get_xa(self, xe):
         """ give input, get output
         Parameters:
diff --git a/pyconsys/PIDControl.py b/pyconsys/PIDControl.py
index 7b67815..e3da338 100644
--- a/pyconsys/PIDControl.py
+++ b/pyconsys/PIDControl.py
@@ -26,11 +26,9 @@ def update_params(self, kp, ki, kd):
         kp(float): Kp
         ki(float): Ki
         kd(float): Kd """
-        self._pControl._kp = kp
-        self._iControl._ki = ki
-        self._iControl._sum = 0
-        self._dControl._kd = kd
-        self._dControl._xe_old = 0
+        self._pControl.reset(kp)
+        self._iControl.reset(ki)
+        self._dControl.reset(kd)
 
     def get_xa(self, xe):
         """ give input, get output