diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.cpp b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
index 663b8662e..003efc08e 100644
--- a/ackermann_steering_controller/src/ackermann_steering_controller.cpp
+++ b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
@@ -321,7 +321,11 @@ namespace ackermann_steering_controller{
     }
 
     // Limit velocities and accelerations:
-    const double cmd_dt(period.toSec());
+    const double cmd_dt = (period.toSec() > 0) ? period.toSec() : 0.0;
+    if(period.toSec() < 0)
+    {
+      ROS_ERROR("Invalid time interval, delta time cannot be negative");
+    }
 
     limiter_lin_.limit(curr_cmd.lin, last0_cmd_.lin, last1_cmd_.lin, cmd_dt);
     limiter_ang_.limit(curr_cmd.ang, last0_cmd_.ang, last1_cmd_.ang, cmd_dt);
diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index 018bd177c..dc5892503 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -470,7 +470,11 @@ namespace diff_drive_controller{
     }
 
     // Limit velocities and accelerations:
-    const double cmd_dt(period.toSec());
+    const double cmd_dt = (period.toSec() > 0) ? period.toSec() : 0.0;
+    if(period.toSec() > 0 < 0)
+    {
+      ROS_ERROR("Invalid time interval, delta time cannot be negative");
+    }
 
     limiter_lin_.limit(curr_cmd.lin, last0_cmd_.lin, last1_cmd_.lin, cmd_dt);
     limiter_ang_.limit(curr_cmd.ang, last0_cmd_.ang, last1_cmd_.ang, cmd_dt);
diff --git a/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp b/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp
index 0c5dbd91e..b5b27e9b5 100644
--- a/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp
+++ b/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp
@@ -362,7 +362,11 @@ namespace four_wheel_steering_controller{
       curr_cmd_4ws.rear_steering = 0.0;
     }
 
-    const double cmd_dt(period.toSec());
+    const double cmd_dt = (period.toSec() > 0) ? period.toSec() : 0.0;
+    if(period.toSec() < 0)
+    {
+      ROS_ERROR("Invalid time interval, delta time cannot be negative");
+    }
 
     const double angular_speed = odometry_.getAngular();
     const double steering_track = track_-2*wheel_steering_y_offset_;