How to stop the solver after a certain time to guarantee constant Control frequency?

Hi, yes what you are proposing could be good, unfortunately I don’t know if it’s possible.
If you select the maximum number of iterations the solver will exit with an error if a solution is not found within that number.
Also the selection of a predefined stop time is not a possible option.
The only thing I can suggest to obtain more regular computation times is in my previous post:

basically avoiding the sleep function I obtained shorter and more regular computation times.

Hope it can help,

Lorenzo