diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 10356f2bd62..d0c6b47f22e 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -517,6 +517,7 @@ void ControllerServer::computeControl()
           get_logger(),
           "Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.",
           controller_frequency_, 1 / cycle_duration.seconds());
+        loop_rate.reset();
       }
     }
   } catch (nav2_core::InvalidController & e) {