A method includes: receiving a mathematical model of a control system, with state variables and control parameters; discretizing at least a part of a space to obtain a set of tuples; determining for each tuple at least one successor state; obtaining an initial winning set of tuples; determining an updated winning set of tuples, including comparing the at least one successor state with the initial winning set of tuples, where the comparison is distributed over available processing elements by choosing one processing element from the available processing elements for each tuple to perform the comparison and where the available processing elements are used simultaneously at least in part; repeating the determination of the updated winning set of tuples to obtain a new updated winning set of tuples if a convergence measure does not meet a criterion, and constructing a controller for the control system from the new updated winning set.