  The ever increasing complexity of real-time control systems results in
significant deviations in the timing of sensing and actuation, which may lead
to degraded performance or even instability. In this paper we present a method
to analyze stability under mostly-periodic timing with bounded uncertainty, a
timing model typical for the implementation of controllers that were actually
designed for strictly periodic execution. In contrast to existing work, we
include the case of multiple sensors and actuators with individual timing
uncertainty. Our approach is based on the discretization of a linear impulsive
system. To avoid the curse of dimensionality, we apply a decomposition that
breaks down the complex timing dependency into the effects of individual
sensor-actuator pairs. Finally, we verify stability by norm bounding and a
Common Quadratic Lyapunov Function. Experimental results substantiate the
effectiveness of our approach for moderately complex systems.
