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The software architecture of a critical embedded control system generally consists of a set of multi-periodic communicating tasks. In order to be able to describe such a system, we define the notion of semaphore precedence constraint, which supports multi-rate communications that follow regular repetitive patterns. We propose a feasibility test for EDF and we study three implementations, for periodic task sets related by such extended precedences on monoprocessor architectures. • Lineardoi:10.1109/etfa.2011.6059015 dblp:conf/etfa/ForgetGPR11 fatcat:6lbqwukiz5ebtizprargzzppwi