Task execution step size not stable on ZYNQ ZCU102 board, how to calibrate it?

Hello all,

I uses Matlab 2020b and Xilinx Zynq UltraScale+ MPSoC ZCU102 evaluation kit for model based development.

Recently I deployed a larger model to the board, and the execution time is abnormal, which obviously larger than that setting value in Simulink (the motor moves slower ).

Also sometimes, execution time is instable and abnormal for a small part of time steps. (I used a FPGA counter to getting ARM step execution time roughly)

So I'd like to consulting about:

1. When an ARM executable runs on ZCU102 borads, what is the real-time interrupt source? is lt a Timer? And can I set the interrupt source?

2. Can I monitoring execution time on hardware for each time step?

3. How to calibrate the exexution time step if it is not stable?

thanks a lot in advance.