An asynchronous pipeline includes a first stage and one or more second stages. A controller provides control signals to the first stage to indicate a modification to an operating speed of the first stage. The modification is determined based on a comparison of a completion status of the first stage to one or more completion statuses of the one or more second stages. In some cases, the controller provides control signals indicating modifications to an operating voltage applied to the first stage and a drive strength of a buffer in the first stage. Modules can be used to determine the completion statuses of the first stage and the one or more second stages based on the monitored output signals generated by the stages, output signals from replica critical paths associated with the stages, or a lookup table that indicates estimated completion times.