Real-Time Systems : Scheduling, Analysis, and Verification by Albert M. K. Cheng (2002, Hardcover)
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ISBN-13: 9780471184065, 978-0471184065. The first book to provide a comprehensive overview of the subject rather than a collection of papers. The author is a recognized authority in the field as well as an outstanding teacher lauded for his ability to convey these concepts clearly to many different audiences.