The disclosed technology includes a controller for a cascade boiler system having both condensing and non-condensing boilers. The controller can receive supply water temperature data and return water temperature data to determine a current temperature differential in the system. The controller can determine a current load demand value using the current temperature differential and a set point temperature. If the current load demand value is less than or equal to a first load demand threshold, the controller can output a control signal for a condensing boiler to transition to a heating mode. If the current load demand value is greater than a second load demand threshold, the controller can output a control signal for a non-condensing boiler to transition to a heating mode.