diff --git a/core/reactor_common.c b/core/reactor_common.c
index 33e5582f5..1fcb0b421 100644
--- a/core/reactor_common.c
+++ b/core/reactor_common.c
@@ -87,6 +87,9 @@ instant_t duration = -1LL;
 /** Indicator of whether the keepalive command-line option was given. */
 bool keepalive_specified = false;
 
+/** The minimum period of triggered timers, used as an upperbound on the lag for wait_until */
+instant_t _min_timer_period = FOREVER;
+
 void* lf_allocate(size_t count, size_t size, struct allocation_record_t** head) {
   void* mem = calloc(count, size);
   if (mem == NULL)
@@ -306,6 +309,10 @@ void _lf_pop_events(environment_t* env) {
 
     // If the trigger is a periodic timer, create a new event for its next execution.
     if (event->trigger->is_timer && event->trigger->period > 0LL) {
+      // Update the min timer
+      if (_min_timer_period > event->trigger->period) {
+        _min_timer_period = event->trigger->period;
+      }
       // Reschedule the trigger.
       lf_schedule_trigger(env, event->trigger, event->trigger->period, NULL);
     }
diff --git a/core/threaded/reactor_threaded.c b/core/threaded/reactor_threaded.c
index 57f888fc2..a1f9e0cf1 100644
--- a/core/threaded/reactor_threaded.c
+++ b/core/threaded/reactor_threaded.c
@@ -197,7 +197,8 @@ void lf_set_present(lf_port_base_t* port) {
 /**
  * Wait until physical time matches or exceeds the specified logical time,
  * unless -fast is given. For decentralized coordination, this function will
- * add the STA offset to the wait time.
+ * add the STA offset to the wait time. For lag control, this function will implement
+ * an I-controller to regulate the lag introduced by the underlying sleep function.
  *
  * If an event is put on the event queue during the wait, then the wait is
  * interrupted and this function returns false. It also returns false if the
@@ -222,6 +223,10 @@ void lf_set_present(lf_port_base_t* port) {
  */
 bool wait_until(instant_t logical_time, lf_cond_t* condition) {
   LF_PRINT_DEBUG("-------- Waiting until physical time matches logical time " PRINTF_TIME, logical_time);
+  // Control value for the i-controller
+  static interval_t error_control = NSEC(0);
+  // Do not incorporate the first lag measurement. It's an outlier due to initilizations
+  static int flag = false;
   interval_t wait_until_time = logical_time;
 #ifdef FEDERATED_DECENTRALIZED // Only apply the STA if coordination is decentralized
   // Apply the STA to the logical time
@@ -234,11 +239,19 @@ bool wait_until(instant_t logical_time, lf_cond_t* condition) {
   }
 #endif
   if (!fast) {
-    // Check whether we actually need to wait, or if we have already passed the timepoint.
-    interval_t wait_duration = wait_until_time - lf_time_physical();
-    if (wait_duration < MIN_SLEEP_DURATION) {
-      LF_PRINT_DEBUG("Wait time " PRINTF_TIME " is less than MIN_SLEEP_DURATION " PRINTF_TIME ". Skipping wait.",
-                     wait_duration, MIN_SLEEP_DURATION);
+    error_control = LF_MAX(error_control, NSEC(0));
+    // Subtract the control value from the requested wait_until_time
+    interval_t wait_until_time_with_adjustment = wait_until_time - error_control;
+    instant_t now = lf_time_physical();
+
+    // If the requested time is already passed, return
+    // If the adjusted wait time is already passed, but the requested wait time
+    // didn't come yet, then adjust the control value and busy wait until the requested time.
+    if (wait_until_time < now) {
+      return true;
+    } else if (wait_until_time_with_adjustment < now && wait_until_time > now) {
+      while (wait_until_time > lf_time_physical())
+        ;
       return true;
     }
 
@@ -247,7 +260,7 @@ bool wait_until(instant_t logical_time, lf_cond_t* condition) {
     // returns 0 if it is awakened before the timeout. Hence, we want to run
     // it repeatedly until either it returns non-zero or the current
     // physical time matches or exceeds the logical time.
-    if (lf_clock_cond_timedwait(condition, wait_until_time) != LF_TIMEOUT) {
+    if (lf_clock_cond_timedwait(condition, wait_until_time_with_adjustment) != LF_TIMEOUT) {
       LF_PRINT_DEBUG("-------- wait_until interrupted before timeout.");
 
       // Wait did not time out, which means that there
@@ -259,8 +272,24 @@ bool wait_until(instant_t logical_time, lf_cond_t* condition) {
       return false;
     } else {
       // Reached timeout.
-      LF_PRINT_DEBUG("-------- Returned from wait, having waited " PRINTF_TIME " ns.", wait_duration);
-      return true;
+      LF_PRINT_DEBUG("-------- Returned from wait, having waited until " PRINTF_TIME " ns.", wait_until_time);
+
+      // Calculate the lag and update the control value
+      instant_t lag = lf_time_physical() - wait_until_time;
+      if (flag && lag <= _min_timer_period) {
+        error_control = error_control + ((lag * KI_MUL) / KI_DIV);
+      } else {
+        flag = true;
+      }
+
+      // Check if the requested time is passed, if not busy wait
+      if (lf_time_physical() > wait_until_time) {
+        return true;
+      } else {
+        while (wait_until_time > lf_time_physical())
+          ;
+        return true;
+      }
     }
   }
   return true;
diff --git a/include/core/reactor_common.h b/include/core/reactor_common.h
index 8086ed7db..98a8f5093 100644
--- a/include/core/reactor_common.h
+++ b/include/core/reactor_common.h
@@ -55,6 +55,7 @@ extern const char** default_argv;
 extern instant_t duration;
 extern bool fast;
 extern bool keepalive_specified;
+extern instant_t _min_timer_period;
 
 #ifdef FEDERATED_DECENTRALIZED
 extern interval_t lf_fed_STA_offset;
diff --git a/low_level_platform/api/platform/lf_arduino_support.h b/low_level_platform/api/platform/lf_arduino_support.h
index 94c5d4933..0d67d271b 100644
--- a/low_level_platform/api/platform/lf_arduino_support.h
+++ b/low_level_platform/api/platform/lf_arduino_support.h
@@ -132,4 +132,10 @@ typedef void* lf_thread_t;
 // Arduinos are embedded platforms with no tty
 #define NO_TTY
 
+/* The constants used for I-controller for lag regulation under reactor_threaded.c wait_until function.
+The lag gets multiplied by KI_MUL and divided by KI_DIV before incorporated into control value.
+Currently no lag control support in this platform. */
+#define KI_DIV 1
+#define KI_MUL 0
+
 #endif // LF_ARDUINO_SUPPORT_H
diff --git a/low_level_platform/api/platform/lf_linux_support.h b/low_level_platform/api/platform/lf_linux_support.h
index cdeb17969..6a6c1e58b 100644
--- a/low_level_platform/api/platform/lf_linux_support.h
+++ b/low_level_platform/api/platform/lf_linux_support.h
@@ -47,4 +47,9 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #error Linux platform misses clock support
 #endif
 
+/* The constants used for I-controller for lag regulation under reactor_threaded.c wait_until function.
+The lag gets multiplied by KI_MUL and divided by KI_DIV before incorporated into control value. */
+#define KI_DIV 1
+#define KI_MUL 1
+
 #endif // LF_LINUX_SUPPORT_H
diff --git a/low_level_platform/api/platform/lf_macos_support.h b/low_level_platform/api/platform/lf_macos_support.h
index e0f4cbf4b..29c273c85 100644
--- a/low_level_platform/api/platform/lf_macos_support.h
+++ b/low_level_platform/api/platform/lf_macos_support.h
@@ -39,6 +39,13 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #if !defined LF_SINGLE_THREADED
 #include "lf_POSIX_threads_support.h"
+
+/* The constants used for I-controller for lag regulation under reactor_threaded.c wait_until function.
+The lag gets multiplied by KI_MUL and divided by KI_DIV before incorporated into control value.
+Currently no lag control support in this platform. */
+#define KI_DIV 1
+#define KI_MUL 0
+
 #endif
 
 #endif // LF_MACOS_SUPPORT_H
diff --git a/low_level_platform/api/platform/lf_nrf52_support.h b/low_level_platform/api/platform/lf_nrf52_support.h
index 18613b2e0..e5a01660d 100644
--- a/low_level_platform/api/platform/lf_nrf52_support.h
+++ b/low_level_platform/api/platform/lf_nrf52_support.h
@@ -51,4 +51,10 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 typedef void* lf_mutex_t;
 typedef void _lf_cond_var_t;
 
+/* The constants used for I-controller for lag regulation under reactor_threaded.c wait_until function.
+The lag gets multiplied by KI_MUL and divided by KI_DIV before incorporated into control value.
+Currently no lag control support in this platform. */
+#define KI_DIV 1
+#define KI_MUL 0
+
 #endif // LF_nRF52832_SUPPORT_H
diff --git a/low_level_platform/api/platform/lf_rp2040_support.h b/low_level_platform/api/platform/lf_rp2040_support.h
index 1b23e3a2e..7796ec80f 100644
--- a/low_level_platform/api/platform/lf_rp2040_support.h
+++ b/low_level_platform/api/platform/lf_rp2040_support.h
@@ -20,4 +20,10 @@
 #define LF_TIME_BUFFER_LENGTH 80
 #define _LF_TIMEOUT 1
 
+/* The constants used for I-controller for lag regulation under reactor_threaded.c wait_until function.
+The lag gets multiplied by KI_MUL and divided by KI_DIV before incorporated into control value.
+Currently no lag control support in this platform. */
+#define KI_DIV 1
+#define KI_MUL 0
+
 #endif // LF_PICO_SUPPORT_H
diff --git a/low_level_platform/api/platform/lf_windows_support.h b/low_level_platform/api/platform/lf_windows_support.h
index ea6ccffb5..4da73e3de 100644
--- a/low_level_platform/api/platform/lf_windows_support.h
+++ b/low_level_platform/api/platform/lf_windows_support.h
@@ -61,6 +61,12 @@ typedef struct {
   CONDITION_VARIABLE condition;
 } lf_cond_t;
 typedef HANDLE lf_thread_t;
+
+/* The constants used for I-controller for lag regulation under reactor_threaded.c wait_until function.
+The lag gets multiplied by KI_MUL and divided by KI_DIV before incorporated into control value.
+Currently no lag control support in this platform. */
+#define KI_DIV 1
+#define KI_MUL 0
 #endif
 
 // Use 64-bit times and 32-bit unsigned microsteps
diff --git a/low_level_platform/api/platform/lf_zephyr_support.h b/low_level_platform/api/platform/lf_zephyr_support.h
index 0f7ab6b4d..fa248e331 100644
--- a/low_level_platform/api/platform/lf_zephyr_support.h
+++ b/low_level_platform/api/platform/lf_zephyr_support.h
@@ -49,6 +49,12 @@ typedef struct {
 } lf_cond_t;
 typedef struct k_thread* lf_thread_t;
 
+/* The constants used for I-controller for lag regulation under reactor_threaded.c wait_until function.
+The lag gets multiplied by KI_MUL and divided by KI_DIV before incorporated into control value.
+Currently no lag control support in this platform. */
+#define KI_DIV 1
+#define KI_MUL 0
+
 #endif // !LF_SINGLE_THREADED
 
 #endif // LF_ZEPHYR_SUPPORT_H