Abstract

Output jitter --- the variation in the inter-completion times of successive jobs of the same task --- is studied in the context of the preemptive uniprocessor scheduling of periodic real-time tasks. A formal quantitative model for output jitter is proposed. A list of properties that are desirable in any jitter-minimization schedule is enumerated. Algorithms are presented for generating suchschedules, and bounds proved for the maximum jitter in schedules generated by these algorithms. Keywords. Scheduling: uniprocessor, preemptive# periodic tasks# output jitter. 1 Introduction In many real-time control applications, periodic activities represent the major computational demand on the system. Such periodic activities typically arise from sensory data acquisition, low-level servoing, control loops, action planning, and system monitoring, which need to be cyclically executed at specific rates (derived from the application requirements). These periodic activities are often formally m...

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