On LQR control with asynchronous clocks

We consider LQR control for a scalar system when the sensor, controller, and actuator all have their own clocks that may drift apart from each other. We consider both an affine and a quadratic clock model. For a quadratic cost function, we analyze the loss of performance incurred as a function of how asynchronous the clocks are. This also allows us to obtain guidelines on how often to utilize the communication resources to synchronize the clocks.