Abstract. This article integrates arbitrary stochastic Petri nets (ASPN) and moment generating function approaches for performance evaluation of discrete event dynamic systems (DEDS). These systems include computer integrated manufacturing systems, resource-shared distributed systems, and communication networks. ASPN can describe various DEDS in which the time duration for activities may be a random variable of arbitrary distributions. In ASPN models, transitions with firing delays of general distributions are used to model these activities. Using our proposed perfbrmance analysis methodology, we first represent a system as an ASPN model, then generate its reachability graph and convert it into a state machine Petri net, derive the transfer functions of interesting performance measures through stepwise reductions, and finally obtain the analysis results. This method makes it possible to obtain analytical solutions of important performance indices. We use a robotic assembly system to illustrate the method. We obtain several important performance measures of a closed form. Finally, we discuss the limitations of this approach and future research.