For more information on Rate Monotonic Scheduling and
its schedulability analysis, the reader is referred to the
following:
C. L. Liu and J. W. Layland. "Scheduling Algorithms for Multiprogramming in a Hard Real Time Environment." Journal of the Association of Computing Machinery. January 1973. pp. 46-61.
John Lehoczky, Lui Sha, and Ye Ding. "The Rate Monotonic Scheduling Algorithm: Exact Characterization and Average Case Behavior." IEEE Real-Time Systems Symposium. 1989. pp. 166-171.
Lui Sha and John Goodenough. "Real-Time Scheduling Theory and Ada." IEEE Computer. April 1990. pp. 53-62.
Alan Burns. "Scheduling hard real-time systems: a review." Software Engineering Journal. May 1991. pp. 116-128.
RTEMS C User's Guide