very real-time systems designer should be familiar with a set of classical scheduling theory results from the literature on complexity theory and operations research. These results rarely provide direct solutions, but they do provide insight in choosing a good Pisa. Ital! rhs work W U I c!onc 31 hila f h t f i n t c~i i~f i o r 1% us on \ahbuti
When hard periodic and rm aperiodic tasks are jointly scheduled in the same system, the processor workload can vary according to the arrival times of aperiodic requests. In order to guarantee the schedulability of the periodic task set, in overload conditions some aperiodic tasks must be r ejected.In this paper we propose a t e chnique that, in overload conditions, adds robustness to the joint scheduling of periodic and aperiodic tasks in systems with dynamic priorities. Our technique is based on an aperiodic server, called Total Bandwidth server, already proven e ective in a previous work. Here the algorithm is rst extended to e ciently handle rm aperiodic tasks and then integrated with a robust guarantee mechanism that allows to achieve graceful degradation in case of transient overloads. Extensive simulations show that the proposed new algorithm is e ective in all workload conditions.
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