Thank you maehne! After I read your suggestion and after I read the TDF section of the user guide better, finally I have reached the goal! The trick is to oversample the signal in the controller output so that the valve can run faster, and then I set the same rate and delay for the controller input port so that it can consume and wait all samples produced by the other modules.
For simplicity, here is an image taken from the user guide that can help the readers of this topic: