3.2. ADVANCED SCHEDULING ANALYSIS 47
common release, the cost of moving all 20 tasks from the delay queue to the run queue may take hundreds of microseconds.
Case I – a simple control loop
The simplest example is that of a periodic task which reads an input fromthe environment and produces a control output. The basic requirement for this task is to work at a specified rate (i.e. have a fixed period) and to deliver its output within a known bounded time (this is usually referred to as its deadline, D). With this simple structure, verification is needed to check simply that R D.