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We present a new approach for scheduling workloads containing periodic tasks in real-time systems. The proposed approach minimizes the total energy consumed by the task set and guarantees that the deadline for every periodic task is met. As embedded software becomes a larger component of system-on-a-chip design, energy management using the operating system becomes increasingly important. We present a mixed-integer linear programming model for the NP-complete scheduling problem and solve it fordoi:10.1016/s0016-0032(01)00021-7 fatcat:dpijzxbypvdzfmaon4ot5pu4m4