According to the article "Tick-tock - Understanding the Neutrino micro kernel's concept of time, Part II" is says that. 
If your design requires very precise timing, you have no other choice then to request a timer event of .999847 ms and 
not 1 ms. This can make the difference between a robot moving very smoothly or scratching your car.

I also heard that to achieve the above, program a second processor timer, totally independent to the timer being used by
 the system clock, and ISR for it. Configure the ISR to be of the highest priority (both in software and in the PIC – 
Programmable Interrupt Controller), it should be able to get an accurate signal from this ISR.

is it require to program a secondary hardware timer for the above?

If yes can u suggest how to program.

Waiting for the reply.