You can look at etime or at tic and toc,
However there is no way to control arduino without delay.
In particular the standard connection of serial over USB can be fired at most 1000 times per second and typically less. It is common for people to have difficulty exceeding 40 Hz unless they write custom code on the arduino side.
In theory you might be able to achieve lower latency with an Ethernet connection, but I do not mean wireless.