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In order to provide Quality of Service (QoS) in open and unpredictable environment, Feedback based Control Scheduling Algorithm (FCSA) is designed to keep the processor utilization at the scheduling utilization bound. FCSA controls CPU utilization by assigning task periods that optimize overall control performance, meeting deadlines even if the task execution time is unpredictable and through performance control feedback loop. Current FCSA doesn't ensure Fault Tolerance (FT) while providing QoSdoi:10.5121/ijics.2013.3401 fatcat:euydnn5yrfavjlkfialo37yq3q