A Survey of Schedulability Analysis Techniques for Rate-Dependent Tasks

Timo Feld, Alessandro Biondi, Robert Ian Davis, Giorgio C. Buttazzo, Frank Slomka

Research output: Contribution to journalArticlepeer-review


In automotive embedded real-time systems, such as the engine control unit, there are tasks that are activated whenever the crankshaft arrives at a specific angular position. As a consequence the frequency of activation changes with the crankshaft’s angular speed (i.e., engine rpm). Additionally, execution times and deadlines may also depend on angular speeds and positions. This paper provides a survey on schedulability analysis techniques for tasks with this rate-dependent behaviour. It covers different task-models and analysis methods for both fixed priority and earliest deadline first scheduling. A taxonomy of the different analysis methods, classifying them according to the assumptions made and the precision of the analysis, is provided at the end of the paper
Original languageEnglish
Pages (from-to)100-107
Number of pages8
JournalJournal of Systems and Software
Early online date22 Dec 2017
Publication statusE-pub ahead of print - 22 Dec 2017

Bibliographical note

© 2017, Elsevier Inc. This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy.


  • Real-time analysis
  • Schedulability test
  • Automotive
  • Engine control unit
  • Rate-dependent
  • Adaptive variable-Rate

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