diff --git a/ROSCO/src/Controllers.f90 b/ROSCO/src/Controllers.f90
index aa92893d..c0ea0d35 100644
--- a/ROSCO/src/Controllers.f90
+++ b/ROSCO/src/Controllers.f90
@@ -317,10 +317,8 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst, DebugVar, ErrVar)
         ! Local variables
         REAL(DbKi)                  :: PitComIPC(3), PitComIPCF(3), PitComIPC_1P(3), PitComIPC_2P(3)
         INTEGER(IntKi)              :: i, K                                    ! Integer used to loop through gains and turbine blades
-        REAL(DbKi)                  :: axisTilt_1P, axisYaw_1P, axisYawF_1P    ! Direct axis and quadrature axis outputted by Coleman transform, 1P
-        REAL(DbKi)                  :: axisTilt_2P, axisYaw_2P, axisYawF_2P    ! Direct axis and quadrature axis outputted by Coleman transform, 1P
-        REAL(DbKi)                  :: axisYawIPC_1P                           ! IPC contribution with yaw-by-IPC component
-        REAL(DbKi)                  :: Y_MErrF, Y_MErrF_IPC                    ! Unfiltered and filtered yaw alignment error [rad]
+        REAL(DbKi)                  :: axisTilt_1P, axisYaw_1P                 ! Direct axis and quadrature axis outputted by Coleman transform, 1P
+        REAL(DbKi)                  :: axisTilt_2P, axisYaw_2P                 ! Direct axis and quadrature axis outputted by Coleman transform, 1P
         
         CHARACTER(*),               PARAMETER           :: RoutineName = 'IPC'
 
@@ -329,16 +327,6 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst, DebugVar, ErrVar)
         CALL ColemanTransform(LocalVar%rootMOOPF, LocalVar%Azimuth, NP_1, axisTilt_1P, axisYaw_1P)
         CALL ColemanTransform(LocalVar%rootMOOPF, LocalVar%Azimuth, NP_2, axisTilt_2P, axisYaw_2P)
 
-        ! High-pass filter the MBC yaw component and filter yaw alignment error, and compute the yaw-by-IPC contribution
-        IF (CntrPar%Y_ControlMode == 2) THEN
-            Y_MErrF = SecLPFilter(LocalVar%Y_MErr, LocalVar%DT, CntrPar%Y_IPC_omegaLP, CntrPar%Y_IPC_zetaLP, LocalVar%FP, LocalVar%iStatus, LocalVar%restart, objInst%instSecLPF)
-            Y_MErrF_IPC = PIController(Y_MErrF, CntrPar%Y_IPC_KP(1), CntrPar%Y_IPC_KI(1), -CntrPar%Y_IPC_IntSat, CntrPar%Y_IPC_IntSat, LocalVar%DT, 0.0_DbKi, LocalVar%piP, LocalVar%restart, objInst%instPI)
-        ELSE
-            axisYawF_1P = axisYaw_1P
-            Y_MErrF = 0.0
-            Y_MErrF_IPC = 0.0
-        END IF
-
         ! Soft cutin with sigma function 
         DO i = 1,2
             LocalVar%IPC_KP(i) = sigma(LocalVar%WE_Vw, CntrPar%IPC_Vramp(1), CntrPar%IPC_Vramp(2), 0.0_DbKi, CntrPar%IPC_KP(i), ErrVar)
@@ -346,13 +334,13 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst, DebugVar, ErrVar)
         END DO
         
         ! Integrate the signal and multiply with the IPC gain
-        IF ((CntrPar%IPC_ControlMode >= 1) .AND. (CntrPar%Y_ControlMode /= 2)) THEN
+        IF (CntrPar%IPC_ControlMode >= 1) THEN
             LocalVar%IPC_axisTilt_1P = PIController(axisTilt_1P, LocalVar%IPC_KP(1), LocalVar%IPC_KI(1), -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat, LocalVar%DT, 0.0_DbKi, LocalVar%piP, LocalVar%restart, objInst%instPI) 
-            LocalVar%IPC_axisYaw_1P = PIController(axisYawF_1P, LocalVar%IPC_KP(1), LocalVar%IPC_KI(1), -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat, LocalVar%DT, 0.0_DbKi, LocalVar%piP, LocalVar%restart, objInst%instPI) 
+            LocalVar%IPC_axisYaw_1P  = PIController(axisYaw_1P, LocalVar%IPC_KP(1), LocalVar%IPC_KI(1), -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat, LocalVar%DT, 0.0_DbKi, LocalVar%piP, LocalVar%restart, objInst%instPI) 
             
             IF (CntrPar%IPC_ControlMode >= 2) THEN
                 LocalVar%IPC_axisTilt_2P = PIController(axisTilt_2P, LocalVar%IPC_KP(2), LocalVar%IPC_KI(2), -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat, LocalVar%DT, 0.0_DbKi, LocalVar%piP, LocalVar%restart, objInst%instPI) 
-                LocalVar%IPC_axisYaw_2P = PIController(axisYawF_2P, LocalVar%IPC_KP(2), LocalVar%IPC_KI(2), -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat, LocalVar%DT, 0.0_DbKi, LocalVar%piP, LocalVar%restart, objInst%instPI) 
+                LocalVar%IPC_axisYaw_2P = PIController(axisYaw_2P, LocalVar%IPC_KP(2), LocalVar%IPC_KI(2), -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat, LocalVar%DT, 0.0_DbKi, LocalVar%piP, LocalVar%restart, objInst%instPI) 
             END IF
         ELSE
             LocalVar%IPC_axisTilt_1P = 0.0
@@ -361,11 +349,8 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst, DebugVar, ErrVar)
             LocalVar%IPC_axisYaw_2P = 0.0
         END IF
         
-        ! Add the yaw-by-IPC contribution
-        axisYawIPC_1P = LocalVar%IPC_axisYaw_1P + Y_MErrF_IPC
-        
         ! Pass direct and quadrature axis through the inverse Coleman transform to get the commanded pitch angles
-        CALL ColemanTransformInverse(LocalVar%IPC_axisTilt_1P, axisYawIPC_1P, LocalVar%Azimuth, NP_1, CntrPar%IPC_aziOffset(1), PitComIPC_1P)
+        CALL ColemanTransformInverse(LocalVar%IPC_axisTilt_1P, LocalVar%IPC_axisYaw_1P, LocalVar%Azimuth, NP_1, CntrPar%IPC_aziOffset(1), PitComIPC_1P)
         CALL ColemanTransformInverse(LocalVar%IPC_axisTilt_2P, LocalVar%IPC_axisYaw_2P, LocalVar%Azimuth, NP_2, CntrPar%IPC_aziOffset(2), PitComIPC_2P)
         
         ! Sum nP IPC contributions and store to LocalVar data type