diff --git a/CHANGELOG.md b/CHANGELOG.md
index a14d7d97..70e97138 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -25,6 +25,7 @@ will consitute of a breaking change warranting a new major release:
 - Bugfix in PLOC MPSoC HK set: Set and variables were not set valid.
 - The `PTG_CTRL_NO_ATTITUDE_INFORMATION` will now actually trigger a fallback into safe mode
   and is triggered by the `AcsController` now.
+- Fixed a corner case, in which an invalid speed command could be sent to the `RwHandler`.
 
 ## Changed
 
diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp
index 0294e8b6..eb1e35c8 100644
--- a/mission/controller/acs/control/PtgCtrl.cpp
+++ b/mission/controller/acs/control/PtgCtrl.cpp
@@ -221,6 +221,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
             rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
           } else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
             rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
+          } else {
+            rwCmdSpeeds[i] = 0;
           }
         }
       }