Method and system for controller transition

A system for transition of control between two controllers, the system comprising:

• a first controller comprising:
• at least one first input terminal;
• at least one first internal input port;
• at least one first input OR-gate between the at least one first input terminal and the at least one first internal input port;
• at least one first output terminal;
• at least one first internal output port;
• at least one first output OR-gate between the at least one first internal output port and the at least one first output terminal;
• a second controller comprising:
• at least one second input terminal;
• at least one second internal input port;
• at least one second input OR-gate between the at least one second input terminal and the at least one second internal input port;
• at least one second output terminal;
• at least one second internal output port;
• at least one second output OR-gate between the at least one second internal output port and the at least one second output terminal;
• and
• a communication system for communicatively coupling the first controller and the second controller, such that an input signal received at the at least one second input terminal of the second controller is supplied to the at least one first input OR-gate, a second output signal generated at the at least one second internal output port of the second controller is supplied to the at least one first output OR-gate, an input signal received at the at least one first input terminal of the first controller is supplied to the at least one second input OR-gate, and a first output signal generated at the at least one first internal output port of the first controller is supplied to the at least one second output OR-gate.