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The question whether preemptive algorithms are better than nonpreemptive ones for scheduling a set of real-time tasks has been debated for a long time in the research community. In fact, especially under fixed priority systems, each approach has advantages and disadvantages, and no one dominates the other when both predictability and efficiency have to be taken into account in the system design. Recently, limited preemption models have been proposed as a viable alternative between the twodoi:10.1109/tii.2012.2188805 fatcat:xcxfk2lnffhzxpzd6s4clf6gne