I had similar problem after upgrading from Ubuntu 14.04 to 18.04 (Ubuntu 
4.15.0-42.45-generic 4.15.18). I noticied that when I shut down wifi the 
touchpad lag is gone. Also when I turn wifi on again, the lag doesn't 
re-appear. After restarting my laptop the lag is back again.
Dmesg shows (after the turning wifi off and on again) an extra piece of 
information (although I don't know what it means):

[  802.187333] psmouse serio1: TouchPad at isa0060/serio1/input0 lost 
synchronization, throwing 5 bytes away.
[  818.784094] wlp6s0: deauthenticating from 0**** by local choice (Reason: 
3=DEAUTH_LEAVING)
[  838.410647] IPv6: ADDRCONF(NETDEV_UP): wlp6s0: link is not ready
[  838.540339] IPv6: ADDRCONF(NETDEV_UP): wlp6s0: link is not ready
[  840.208690] wlp6s0: authenticate with 0*****
[  840.610491] wlp6s0: send auth to 0**** (try 1/3)
[  840.613821] wlp6s0: authenticated
[  840.618291] wlp6s0: associate with 0***** (try 1/3)
[  840.621835] wlp6s0: RX AssocResp from 0***** (capab=0x411 status=0 aid=9)
[  840.622520] wlp6s0: associated
[  840.645374] IPv6: ADDRCONF(NETDEV_CHANGE): wlp6s0: link becomes ready

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https://bugs.launchpad.net/bugs/1679962

Title:
  psmouse serio1: Explorer Mouse at isa0060/serio1/input0 lost
  synchronization, throwing 3 bytes away.

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