diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
index cfe7d218c37..e1266f95b5b 100644
--- a/controller_manager/test/test_controller_manager.cpp
+++ b/controller_manager/test/test_controller_manager.cpp
@@ -246,9 +246,13 @@ TEST_P(TestControllerManagerWithStrictness, per_controller_update_rate)
 
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_state().id());
 
-  EXPECT_EQ(
-    controller_interface::return_type::OK,
-    cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
+  // As the controller frequency is 4Hz, it needs to pass 25 iterations for 1 update cycle
+  for (size_t i = 0; i < 25; i++)
+  {
+    EXPECT_EQ(
+      controller_interface::return_type::OK,
+      cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
+  }
   EXPECT_GE(test_controller->internal_counter, 1u);
   EXPECT_EQ(test_controller->get_update_rate(), 4u);
 }
@@ -361,13 +365,19 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
   last_internal_counter = test_controller->internal_counter;
 }
 
+INSTANTIATE_TEST_SUITE_P(
+  per_controller_equal_and_higher_update_rate, TestControllerManagerWithUpdateRates,
+  testing::Values(100, 232, 400));
+
 class TestControllerUpdateRates
-: public ControllerManagerFixture<controller_manager::ControllerManager>
+: public ControllerManagerFixture<controller_manager::ControllerManager>,
+  public testing::WithParamInterface<unsigned int>
 {
 };
 
-TEST_F(TestControllerUpdateRates, check_the_controller_update_rate)
+TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
 {
+  const unsigned int ctrl_update_rate = GetParam();
   auto test_controller = std::make_shared<test_controller::TestController>();
   cm_->add_controller(
     test_controller, test_controller::TEST_CONTROLLER_NAME,
@@ -378,7 +388,7 @@ TEST_F(TestControllerUpdateRates, check_the_controller_update_rate)
   EXPECT_EQ(
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_controller->get_state().id());
 
-  test_controller->get_node()->set_parameter({"update_rate", 40});
+  test_controller->get_node()->set_parameter({"update_rate", static_cast<int>(ctrl_update_rate)});
   // configure controller
   cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
   EXPECT_EQ(
@@ -410,11 +420,14 @@ TEST_F(TestControllerUpdateRates, check_the_controller_update_rate)
 
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_state().id());
 
-  EXPECT_EQ(test_controller->get_update_rate(), 40u);
+  EXPECT_EQ(test_controller->get_update_rate(), ctrl_update_rate);
   const auto cm_update_rate = cm_->get_update_rate();
   const auto controller_update_rate = test_controller->get_update_rate();
+  const auto expected_controller_update_rate =
+    cm_update_rate / (cm_update_rate / controller_update_rate);
 
-  for (size_t update_counter = 0; update_counter <= 10 * cm_update_rate; ++update_counter)
+  const auto initial_counter = test_controller->internal_counter;
+  for (size_t update_counter = 2; update_counter <= 10 * cm_update_rate; ++update_counter)
   {
     EXPECT_EQ(
       controller_interface::return_type::OK,
@@ -423,11 +436,11 @@ TEST_F(TestControllerUpdateRates, check_the_controller_update_rate)
     if (update_counter % cm_update_rate == 0)
     {
       const auto no_of_secs_passed = update_counter / cm_update_rate;
-      EXPECT_EQ(test_controller->internal_counter, controller_update_rate * no_of_secs_passed);
+      EXPECT_EQ(
+        test_controller->internal_counter, (expected_controller_update_rate * no_of_secs_passed));
     }
   }
 }
 
 INSTANTIATE_TEST_SUITE_P(
-  per_controller_equal_and_higher_update_rate, TestControllerManagerWithUpdateRates,
-  testing::Values(100, 232, 400));
+  per_controller_update_rate_check, TestControllerUpdateRates, testing::Values(23, 40, 50));