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The benefits of deliberately modulating air-to-fuel ratio over a three-way catalyst are disputed. In this work, engine test cell experiments were carried out to assess the performance of a warmed-up Pd/Rh three-way catalyst. The objectives were threefold: first, to determine the best mode of operation; second, to determine if air-to-fuel ratio modulation enhances robustness to transient air-to-fuel ratio disturbances; third, to determine if the conversion efficiency can be manipulated by controlling the shape of the air-to-fuel ratio oscillation. It was observed that the highest conversion efficiency is obtained using a steady air-to-fuel ratio just rich of stoichiometric; however, this mode of operation lacks robustness with respect to transient disturbances and UEGO sensor errors. Robustness can be improved using an oscillating air-to-fuel ratio, but with a sacrifice in peak conversion efficiency.