This paper studies a periodic-review single-commodity setup-cost inventory model with backorders and holding/backlog costs satisfying quasiconvexity assumptions. We show that the Markov decision process for this inventory model satisfies the assumptions that lead to the validity of optimality equations for discounted and average-cost problems and to the existence of optimal (s, S) policies. In particular, we prove the equicontinuity of the family of discounted value functions and the convergence of optimal discounted lower thresholds to the optimal average-cost one for some sequences of discount factors converging to 1. If an arbitrary nonnegative amount of inventory can be ordered, we establish stronger convergence properties: (i) the optimal discounted lower thresholds s α converge to optimal average-cost lower threshold s; and (ii) the discounted relative value functions converge to average-cost relative value function. These convergence results previously were known only for subsequences of discount factors even for problems with convex holding/backlog costs. The results of this paper also hold for problems with fixed lead times.lower thresholds s α converge to optimal average-cost lower threshold s; and (ii) the discounted relative value functions converge to average-cost relative value function. These convergence results previously were known only for subsequences of discount factors even for problems with convex holding/backlog costs. The results of this paper hold for problems with deterministic positive lead times.For problems with convex holding/backlog cost functions, Scarf [21] introduced the concept of K-convexity to prove the optimality of (s, S) policies for finite-horizon problems with continuous demand and convex holding/backlog costs. Zabel [26] indicated some gaps in Scarf [21] and corrected them. References [2,3,4,5,6,11,12,13,18,21,23,25] deal with convex or linear holding/backlog cost functions. Iglehart [18] extended Scarf's [21] results to infinite-horizon problems with continuous demand. Veinott and Wagner [25] proved the optimality of (s, S) policies for both finite-horizon and infinite-horizon problems with discrete demand. Beyer and Sethi [3] completed the missing proofs in Iglehart [18] and Veinott and Wagner [25]. Chen and Simchi-Levi [4, 5] studied coordinating inventory control and pricing problems and proved the optimality of (s, S) policies without assuming that the demand is discrete or continuous. Under certain assumptions, their results imply the optimality of (s, S) policies for problems without pricing. Beyer et al. [2] and Huh et al. [17] studied problems with parameters depending on exogenous factors modeled by a Markov chain. Additional references can be found in monographs by Porteus [19] and Zipkin [28].The analysis of periodic-review inventory models is based on the theory of Markov Decision Processes (MDPs). However, most of inventory control papers use only basic facts from the MDP theory, and the corresponding general results had been unavailable for a long time. Fe...