How to solve very delay response of fuzzy based Sliding Mode Control for both real time simulation and stand alone application using Simulink?

Hello to All.

I've the following problems while doing my thesis fuzzy based sliding mode control. I'm testing fuzzy based Sliding Mode Control for two-wheeled inverted pendulum. It is all ok with simulation in Simulink but the problem i.e., very long delay responses are appear when my fuzzy based SMC are tested in real time and stand alone deployment. It is also ok only SMC for real time and stand alone deployment. How can I slove this difficulty? Simulink Model is attached for my question.

May I request to all, please point out me to overcome my problem.