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A formal approach for the development of real-time control systems is described. Our development process consists of two phases: the platform-independent phase, which includes specification, programming, and verification, and the second phase, where execution platform considerations (i.e. resource constraints) are taken into account. This development process supports the use of end-to-end timing constraints through the whole design process without splitting them apart. A real-time applicationdoi:10.1109/emrts.2001.934023 dblp:conf/ecrts/SintoskiHRH01 fatcat:xynsxrjziret3ow5rgparq4kl4