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Timeliness is an emerging requirement for cyber-physical systems, where the value of information can quickly diminish with time. Nevertheless, there are different imperfections and constraints that hinder the immediate access of decision makers to the latest states of such systems. This obliges the designers of these systems to study the impact of information staleness on the control performance. In this paper, we focus on control with stale information and study a trade-off between the information staleness and control performance. To this purpose, we design a test channel in which the staleness of observations is chosen deliberatively. This test channel should be regarded as an abstract model that allows us to obtain the achievable region in our trade-off analysis. Based on this trade-off, the performance of any communication channel with time-varying delay used for control applications can be assessed, and the maximum staleness that is tolerable for stability can be specified., QC 20200702