You mean a shorter interval than 20 seconds?
If yes, that can be done with Get-EsxTop which uses by default a 5 second interval (but which is a bit more cumbersome to work with).
If you mean the performance metrics as the Task Manager shows, then you would need to look at the Get-Counter cmdlet.
This is not a PowerCLI cmdlet and needs to connect to the target over the network (which assumes such a connection exists) or needs to be run inside the Guest OS (think Invoke-VMScript).