diff --git a/control/fixed_duty.py b/control/fixed_duty.py
index 6040030..abde64c 100644
--- a/control/fixed_duty.py
+++ b/control/fixed_duty.py
@@ -13,9 +13,11 @@ class FixedDutyCycle(controllers.Controller):
             '>': lambda a, b: a > b,
             '==': lambda a, b: a == b,
         }
+        self.offset = 0.1 if operator == "<" else -0.1
         self.operator = functions[operator]
         super().__init__(*args, **kwargs)
-        self.last_time = None
+        self.last_time   = None
+        self.last_output = False
         self.total_failed_read = 0
         self.failed_read = 0
 
@@ -45,11 +47,18 @@ class FixedDutyCycle(controllers.Controller):
         if self.input is None:
             self.total_failed_read += 1
             self.failed_read += 1
-            # TODO: WARN/EXIT IF WE HAVE TOO MANY FAILED READS?
+        # TODO: find a sane default failed read value
+        if self.failed_read > 100:
+            print("ERROR: TOO MANY CONSEQUTIVE FAILED READ; DISABLED")
             return False
+        if self.input is None:
+            print("WARNING: READ FAILED, KEEPING LAST ESTIMATE")
+            return self.last_output
         self.failed_read = 0
-        return (self.timepoint() < self.duty) if (
-            self.operator(self.input, self.target)) else False
+        target = self.target + self.offset * (1 if self.last_output else -1)
+        self.last_output = (self.timepoint() < self.duty) if (
+            self.operator(self.input, target)) else False
+        return self.last_output
 
 
 # 0. refractary_period is fixed (e.g. 30s, depends on the hardware)