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Maybe 5%. This gives 20 steps. 20 steps in 5ms.
Means you need to generate interrupt with 200Hz x 20 = 4000Hz.
This means you need to setup your timer to generate an interrupt eveery 250us.
Within the ISR you need a counter.
increment the counter every time you enter the ISR. set it to zero if it is >=19.
So it counts 0 up to 19.
Now you have to compare this counter with your PWM value. ( in the range of 0...20)
if pwm_value > counter then set PWM_PORT, else clear PWM_PORT.
return from ISR