diff --git a/controller_interface/include/controller_interface/async_function_handler.hpp b/controller_interface/include/controller_interface/async_function_handler.hpp
index 21c3186e93..46bd83f24c 100644
--- a/controller_interface/include/controller_interface/async_function_handler.hpp
+++ b/controller_interface/include/controller_interface/async_function_handler.hpp
@@ -126,7 +126,7 @@ class AsyncFunctionHandler
     if (is_running())
     {
       std::unique_lock<std::mutex> lock(async_mtx_);
-      async_update_condition_.wait(lock, [this] { return !trigger_in_progress_; });
+      cycle_end_condition_.wait(lock, [this] { return !trigger_in_progress_; });
     }
   }
 
@@ -218,13 +218,14 @@ class AsyncFunctionHandler
                 lock, [this] { return trigger_in_progress_ || async_update_stop_; });
               if (async_update_stop_)
               {
-                async_update_condition_.notify_one();
+                trigger_in_progress_ = false;
+                cycle_end_condition_.notify_one();
                 break;
               }
               async_update_return_ = async_function_(current_update_time_, current_update_period_);
               trigger_in_progress_ = false;
             }
-            async_update_condition_.notify_one();
+            cycle_end_condition_.notify_one();
           }
         });
     }
@@ -242,6 +243,7 @@ class AsyncFunctionHandler
   std::atomic_bool trigger_in_progress_{false};
   std::atomic<T> async_update_return_;
   std::condition_variable async_update_condition_;
+  std::condition_variable cycle_end_condition_;
   std::mutex async_mtx_;
 };
 }  // namespace ros2_control