Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications (Real-Time Systems Series)
From the reviews: "This book … . represents the fruit of a 15-year research career. … The target audience for the book … will benefit from the large number of illustrations, and the exercises that accompany each chapter. The exercises will be very helpful when digesting … . Overall, the book is an excellent introductory textbook for predictable scheduling in hard real-time computing systems, combining the right balance of theory and practice." (Computing Reviews, April 2004)