This is a common experience with 172 Cup ownership!
The basic principle of the compensator valve is to regulate the brake fluid pressure to the rear calipers depending on the load over the rear axle and is actuated via mechanical connection to the rear suspension beam. The purpose of this is to prevent the rear wheels locking under heavy braking when the vehicle is lightly laden.
On 172 Cups however, the compensator valve was allegedly fitted from factory in a set position without a link to the rear beam, and as a result the rear braking force barely met the requirements dictated by the MOT test. The output of this was VOSA issuing an advisory note to garages explaining the situation. See link here and scroll to last page
https://webarchive.nationalarchives.gov.uk/20121207053848/http://www.dft.gov.uk/vosa/repository/MoT Issue 31 - Apr 2006.pdf
However, 172s are getting on a bit and it could be that the compensator valve on yours is in need of replacement. I DIY'd mine along with renewing brake lines and new braided hoses locally, and ensured connection to the suspension beam because I was fed up with being challenged at every MOT test. Compensator valve location arrowed in blue:
View attachment 1525050