A controller, in particular for controlling engine and continuous braking requests of a motor vehicle, having (a) a first control branch which comprises a first integration element (13, 14) and a first proportional element, wherein the first control branch is supplied with a first target acceleration (a_Eng) for at least one driving actuator and with an actual acceleration (a_act) and outputs a first actuating variable (M_Eng) for the at least one driving actuator; (b) a second control branch which comprises a second integration element (23, 24) and a second proportional element, wherein the second control branch is supplied with a second target acceleration (a_EB) for at least one decelerating actuator and with the actual acceleration (a_act) and outputs a first actuating variable (M_EB) for the at least one decelerating actuator; and (c) a decision element which is supplied with the first and the second actuating variable (M_Eng, M_EB) and with the starting values (I_Eng, I_EB) of the first and the second integration element (13, 14, 23, 24) and outputs a first output actuating variable (M_Drive) as torque request to the at least one driving actuator, a second output actuating variable (M_Brake) as torque request to the at least one decelerating actuator and an I-component (I_Controller) which is supplied to the first and to the second integration element (14, 24) in each case in a subsequent time step, wherein the first output actuating variable (M_Drive) is set to the value of the first actuating variable, the second output actuating variable (M_Brake) is set to zero and the I-component is set to the starting value of the integration element (13, 14) of the first control branch if both the first actuating variable (M_Eng) and the second actuating variable (M_EB) are greater than zero; the first output actuating variable (M_Drive) is set to zero, the second output actuating variable (M_Brake) is set to the value of the second actuating variable (M_EB) and the I-component is set to the starting value of the integration element (23, 24) of the second control branch if both the first actuating variable (M_Eng) and the second actuating variable (M_EB) are less than zero; and the first output actuating variable (M_Drive) and the second output actuating variable (M_Brake) are set to zero if the first actuating variable (M Eng) is less than zero and the second actuating variable (M_EB) is greater than zero. (a) a first control branch which comprises a first integration element (13, 14) and a first proportional element, wherein the first control branch is supplied with a first target acceleration (a_Eng) for at least one driving actuator and with an actual acceleration (a_act) and outputs a first actuating variable (M_Eng) for the at least one driving actuator; (b) a second control branch which comprises a second integration element (23, 24) and a second proportional element, wherein the second control branch is supplied with a second target acceleration (a_EB) for at least one decelerating actuator and with the actual acceleration (a_act) and outputs a first actuating variable (M_EB) for the at least one decelerating actuator; and (c) a decision element which is supplied with the first and the second actuating variable (M_Eng, M_EB) and with the starting values (I_Eng, I_EB) of the first and the second integration element (13, 14, 23, 24) and outputs a first output actuating variable (M_Drive) as torque request to the at least one driving actuator, a second output actuating variable (M_Brake) as torque request to the at least one decelerating actuator and an I-component (I_Controller) which is supplied to the first and to the second integration element (14, 24) in each case in a subsequent time step, wherein the first output actuating variable (M_Drive) is set to the value of the first actuating variable, the second output actuating variable (M_Brake) is set to zero and the I-component is set to the starting value of the integration element (13, 14) of the first control branch if both the first actuating variable (M_Eng) and the second actuating variable (M_EB) are greater than zero; the first output actuating variable (M_Drive) is set to zero, the second output actuating variable (M_Brake) is set to the value of the second actuating variable (M_EB) and the I-component is set to the starting value of the integration element (23, 24) of the second control branch if both the first actuating variable (M_Eng) and the second actuating variable (M_EB) are less than zero; and the first output actuating variable (M_Drive) and the second output actuating variable (M_Brake) are set to zero if the first actuating variable (M Eng) is less than zero and the second actuating variable (M_EB) is greater than zero.