Enhance cyclic controller

[YuanTingHsieh]

Description

Port changes from #2337 and enhance the logic of cyclic controller to check RC first before trying to call shareable_generator.

Types of changes

• [x] Non-breaking change (fix or new feature that would not break existing functionality).
• [ ] Breaking change (fix or new feature that would cause existing functionality to change).
• [ ] New tests added to cover the changes.
• [ ] Quick tests passed locally by running ./runtest.sh.
• [ ] In-line docstrings updated.
• [ ] Documentation updated.