Real time scheduling theory: A historical perspective

Lui Sha, Tarek Abdelzaher, Karl Erik Årzén, Anton Cervin, Theodore Baker, Alan Burns, Giorgio Buttazzo, Marco Caccamo, John Lehoczky, Aloysius K. Mok

Research output: Contribution to journalReview articlepeer-review

442 Scopus citations


In this 25th year anniversary paper for the IEEE Real Time Systems Symposium, we review the key results in real-time scheduling theory and the historical events that led to the establishment of the current real-time computing infrastructure. We conclude this paper by looking at the challenges ahead of us.

Original languageEnglish
Pages (from-to)101-155
Number of pages55
JournalReal-Time Systems
Issue number2-3 SPEC. ISS.
StatePublished - Nov 2004
Externally publishedYes


  • Dynamic-priority scheduling
  • Earliest dead-line first
  • Feedback
  • Fixed-priority scheduling
  • Hard real-time
  • New challenges
  • Rate-monotonic scheduling
  • Scheduling models
  • Soft real-time


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