|   |   | Preface |   |   | 
| 1 |   | Typical Real-Time Applications |   | 1 | 
| 2 |   | Hard Versus Soft Real-Time Systems |   | 26 | 
| 3 |   | A Reference Model of Real-Time Systems |   | 34 | 
| 4 |   | Commonly used Approaches to Real-Time Scheduling |   | 60 | 
| 5 |   | Clock-Driven Scheduling |   | 85 | 
| 6 |   | Priority-Driven Scheduling of Periodic Tasks |   | 115 | 
| 7 |   | Scheduling Aperiodic and Sporadic Jobs in Priority-Driven Systems |   | 190 | 
| 8 |   | Resources and Resource Access Control |   | 277 | 
| 9 |   | Multiprocessor Scheduling, Resource Access Control, and Synchronization |   | 330 | 
| 10 |   | Scheduling Flexible Computations and Tasks with Temporal Distance Constraints |   | 394 | 
| 11 |   | Real-Time Communication |   | 420 | 
| 12 |   | Operating Systems |   | 497 | 
| App |   | Posix Thread and Real-Time Extensions |   | 571 | 
|   |   | Bibliography |   | 577 | 
|   |   | Index |   | 589 |