A partially asynchronous co-state prediction algorithm for the solutio
n of the optimal control problem of linear large-scale systems is pres
ented. A detailed study of the convergence behaviour of the proposed a
lgorithm is given, taking into consideration the effect of communicati
on delay among the processors forming the overall system. The results
of applying the new algorithm to simulation examples are presented and
compared with those obtained using the well-known synchronous algorit
hm.