Optimal Priority-Free Conditionally-Preemptive Real-Time Scheduling of Periodic Tasks Based on DES Supervisory Control

Xi Wang, Zhiwu Li, Walter Murray Wonham
2017 IEEE Transactions on Systems, Man & Cybernetics. Systems  
doi:10.1109/tsmc.2016.2531681 fatcat:zn5xbuf7kfd7tds4rggctwwuby