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IEEE TRANSACTIONS ON COMPUTERS, VOL. 52, NO.

7, JULY 2003 933

Rate Monotonic Analysis:


The Hyperbolic Bound
Enrico Bini, Giorgio C. Buttazzo, Member, IEEE, and Giuseppe M. Buttazzo

Abstract—In this paper, we propose a novel schedulability analysis for verifying the feasibility of large periodic task sets under the rate
monotonic algorithm when the exact test cannot be applied on line due to prohibitively long execution times. The proposed test has the
same complexity as the original Liu and Layland bound, but it is less pessimistic, thus allowing it to accept task sets that would be
rejected using the original approach. The performance of the proposed approach is evaluated with respect to the classical Liu and
Layland method and theoretical bounds are derived as a function of n (the number of tasks) and for the limit case of n tending to
infinity. The analysis is also extended to include aperiodic servers and blocking times due to concurrency control protocols. Extensive
simulations on synthetic tasks sets are presented to compare the effectiveness of the proposed test with respect to the Liu and Layland
method and the exact response time analysis.

Index Terms—Rate-monotonic analysis, periodic scheduling, schedulability test.

1 INTRODUCTION

D URING the last 30 years, periodic task scheduling has


received much consideration in the real-time research
community due to the large number of control applications
the minor and major cycles, thus requiring complete
redesign of the scheduling table.
Such problems can be solved by using a priority-based
using cyclical activities. Since a few years ago, the most approach, according to which each task is assigned a
critical control applications were developed using an offline priority (which can be fixed or dynamic) and the schedule is
table-driven approach (time line scheduling), according to generated online based on the current priority value. In
which the time line is divided into slots of fixed length 1973, Liu and Layland [2] analyzed the properties of two
(minor cycle) and tasks are statically allocated in each slot basic priority assignment rules: the Rate Monotonic (RM)
based on their rates and execution requirements [1]. The algorithm (according to which priorities are inversely
schedule is then constructed up to the least common proportional to task periods) and the Earliest Deadline
multiple of all the periods (called the hyperperiod or the First (EDF) algorithm (according to which priorities are
major cycle) and stored in a table. At runtime, tasks are inversely proportional to absolute deadlines). Their major
dispatched according to the table and synchronized by a contribution was to derive two simple guarantee tests to
timer at the beginning of each minor cycle. On one hand, verify the schedulability of a periodic task set under both
time line scheduling is straightforward to implement and
algorithms.
does not introduce significant runtime overhead (since
Their results refer to the following task model. Each
scheduling decisions are taken offline). Moreover, tasks
periodic task i consists of an infinite sequence of jobs i;k
always execute in their preallocated slots, so the experi-
(k ¼ 1; 2; . . . ), where the first job i;1 is released at time
enced jitter is very small.
ri;1 ¼ i (the task phase) and the generic kth job i;k is
On the other hand, time line scheduling is fragile during
released at time ri;k ¼ i þ ðk ÿ 1Þ Ti , where Ti is the task
overload situations since a task exceeding its predicted period. Each job is characterized by a worst-case execu-
execution time could generate (if not aborted) a domino tion time Ci , a relative deadline Di , and an absolute
effect on the subsequent tasks, causing their execution to deadline di;k ¼ ri;k þ Di . The ratio Ui ¼ Ci =Ti is called the
exceed the minor cycle boundary (time line break). In utilization factor of task i and represents the fraction of
processor time used by that task. Finally, the value
addition, time line scheduling is not flexible enough for
handling dynamic situations. In fact, creation of a new task, X
n
Up ¼ Ui
or a little change in a task rate, might modify the values of i¼1

is called the total processor utilization factor and represents


. E. Bini is with Scuola Superiore S. Anna, Piazza Martiri della Libertà, 33, the fraction of processor time used by the periodic task set.
56127 Pisa, Italy. E-mail: e.bini@sssup.it.
. G.C. Buttazzo is with the Università di Pavia, Via Ferrata 1, 27100-Pavia, Clearly, if Up > 1, no feasible schedule exists for the task set.
Italy. E-mail: buttazzo@unipv.it. The two schedulability conditions for RM and EDF are
. G.M. Buttazzo is with the Dipartimento di Matematica, Università di Pisa, derived for a set ÿ of n periodic tasks under the assumptions
Via Buonarroti 2, 56127-Pisa, Italy. E-mail: buttazzo@dm.unipi.it.
that all tasks start simultaneously at time t ¼ 0 (that is, i ¼ 0
Manuscript received 21 Mar. 2002; revised 25 July 2002; accepted 30 July for all i ¼ 1; . . . ; n), relative deadlines are equal to periods
2002.
For information on obtaining reprints of this article, please send e-mail to: (that is, di;k ¼ k Ti ), and tasks are independent (that is, they do
tc@computer.org, and reference IEEECS Log Number 116128. not have resource constraints, nor precedence relations).
0018-9340/03/$17.00 ß 2003 IEEE Published by the IEEE Computer Society
934 IEEE TRANSACTIONS ON COMPUTERS, VOL. 52, NO. 7, JULY 2003

Under such assumptions, a set of n periodic tasks is


schedulable by the RM algorithm if
X
n
Ui  n ð21=n ÿ 1Þ: ð1Þ
i¼1

Throughout the paper, we will refer to the previous


schedulability condition as the LL-test. We recall that

lim n ð21=n ÿ 1Þ ¼ ln 2 ’ 0:69:


n!1

Under the EDF algorithm, a set of n periodic tasks is


schedulable if and only if
X
n
Ui  1: ð2Þ
i¼1

Since the work presented by Liu and Layland, a lot of Fig. 1. Comparison between the RTA and the LL test in terms of
work has been done on periodic tasks to improve the complexity.
schedulability bound of the RM algorithm or relax some
restrictive assumption on the task set. In [3], Lehoczky et al. task activation. In fact, each task would still have a fixed
performed a statistical study and showed that, for task sets priority level (assigned according to RM), but would be
with randomly generated parameters, the LL-test is able to activated upon the arrival of an external event.
guarantee schedulability up to a processor utilization of Consider, for example, a radar tracking application in an
about 88 percent. Exact schedulability tests for RM yielding environment where there are a number of moving targets,
to necessary and sufficient conditions have been indepen- having different but constant and known speed. In this case,
dently derived in [4], [3], [5]. Using the Response Time using an RM priority assignment, the priority of a task is
Analysis (RTA) proposed in [5], a periodic task set is fixed, but proportional to the target speed. In this scenario,
schedulable with the RM algorithm if and only if the worst- to optimize the available resources, a task is activated when
case response time of each task is less than or equal to its a new target enters the monitored environment and killed
deadline. The worst-case response time Ri of a task can be when the target goes out of the visual field. In such a
computed using the following iterative formula: system, an online acceptance test needs to be executed at
each task activation to guarantee that all active tasks will be
8 ð0Þ
scheduled within their given period. The failure of the
< Ri ¼ Ci
> & ’
X Rðkÿ1Þ ð3Þ acceptance test can be used to allocate additional computa-
ðkÞ i
>
: Ri ¼ Ci þ Cj ; tional resources (if available), to generate an alarm, if the
T j
j:D <D j i system is not able to handle the overload, or to take proper
recovery action.
where the worst-case response time of task i is given by the
ðkÞ ðkÞ ðkÿ1Þ If the number of active tasks is high, the exact schedul-
smallest value of Ri such that Ri ¼ Ri . It is worth
ability test provided by the response time analysis could
noting, however, that the complexity of the exact test is require too much time to be executed online, whereas the
pseudopolynomial, thus it is not suitable for use for online classical Liu and Layland test could fail on a feasible task set.
admission control in applications with large task sets. The graph reported in Fig. 1 shows the number of steps in the
The Rate Monotonic algorithm is probably the most used innermost loop of the RTA and LL tests as a function of the
priority assignment in real-time applications because it is number of tasks (for the RTA test, the maximum and the
very easy to implement on top of commercial kernels, average number of steps are reported because they are
which do not support explicit timing constraints on the task significantly different). In this simulation, the periods are
set. Indeed, an RM scheduler can be implemented just by uniformly distributed in the interval ½Tmin ; Tmax Š, where
assigning each task a fixed priority level inversely propor- Tmin ¼ 10 and Tmax ¼ 10; 000 units of time, and the WCET,
tional to its period. On the other hand, implementing a Ci , are uniformly distributed in ½0; Ti Š. For example, in an
dynamic scheme, like EDF, on top of a priority-based kernel application with 50 tasks, where each step takes 10 micro-
would require keeping track of all absolute deadlines and seconds to run, the RTA acceptance test would take 0:1
performing a dynamic mapping between absolute dead- seconds, whereas the LL-test would run in 500 microseconds.
lines and priorities. Such a mapping should be done every It is worth noting that, to accept a new task, when the current
time a new task receives a priority falling between two set has been already guaranteed, the LL-test can actually be
adjacent priority levels. Such an additional implementation performed in one step only, by summing the utilization of the
complexity and runtime overhead, due to dynamic priority incoming task to the total processor utilization previously
management, often prevents EDF being implemented on computed. Conversely, in the same situation, the complexity
top of commercial real-time kernels, even though it would of the RTA-test remains the same.
increase the total processor utilization. In the context described above, the acceptance test
Using a fixed priority scheme like RM, however, does not proposed in this paper, having the same O(n) complexity
prevent developing real-time applications with dynamic as the Liu and Layland test, can be efficiently executed
BINI ET AL.: RATE MONOTONIC ANALYSIS: THE HYPERBOLIC BOUND 935

online to accept more tasks in the system and increase the with particular characteristics. Finally, Section 7 states our
exploitation of computational resources. conclusions and future work.
In [6], Sjödin and Hansson proposed an improved
version of the RTA test which runs more efficiently in the
2 THE HYPERBOLIC BOUND
average case, but still has pseudopolynomial complexity in
the worst-case. In [7], Sha et al. extended the rate monotonic The schedulability test we propose in this paper is derived
analysis in the presence of resource constraints, where from the same worst-case scenario identified by Liu and
access to resources is performed using concurrency control Layland in [2] for a set on n periodic tasks. However,
protocols, such as the Priority Inheritance Protocol and the instead of minimizing the processor utilization with respect
Priority Ceiling Protocol. In [5], Audsley et al. generalized to task periods, we manipulate the feasibility condition in
the response time analysis, including resource constraints. order to find a tighter sufficient schedulability test as a
A method similar to the one described here has been function of the individual task utilizations. It is worth
independently developed by Oh and Son in [8] to verify the noting that the Liu and Layland proof has been shown to be
schedulability of periodic task sets in a multiprocessor incorrect by Devillers and Goossens in [11]; however, the
environment. The authors, however, do not compare the bug in the proof does not affect our result since the worst-
effectiveness of the method against other classical case scenario remains valid, as also shown by Liu in [9].
approaches and the analysis is not extended to deal with The following theorem provides a sufficient condition
resource constraints and aperiodic servers. The basic for testing the schedulability of a task set under the RM
guarantee test has also been described in [9] in the context algorithm.
of uniprocessor scheduling, but without any performance Theorem 1. Let ÿ ¼ f1 ; . . . ; n g be a set of n periodic tasks,
characterization and comparison. where each task i is characterized by a processor utilization
The present paper extends and integrates the results Ui . Then, ÿ is schedulable with the RM algorithm if
presented by the same authors in [10] and provides the
following contributions: Y
n
ðUi þ 1Þ  2: ð4Þ
. We present an efficient test for verifying the i¼1

feasibility of large periodic task sets with fixed


Proof. Without loss of generality, we may assume that tasks
priorities in dynamic environments, when the
response time analysis cannot be applied online are ordered by increasing periods so that 1 is the task
due to prohibitively long execution times. The with the highest priority and n is the task with the
proposed test has the same complexity as the lowest priority. In [2], as well as in [11], it has been
original Liu and Layland bound, but it is less shown that the worst-case scenario for a set on n periodic
pessimistic, thus allowing it to accept task sets that tasks occurs when all the tasks start simultaneously (e.g.,
would be rejected using the original approach. at time t ¼ 0) and periods are such that
. We prove that the proposed test is tight, in the sense
8i ¼ 2; . . . ; n T1 < Ti < 2 T1 :
that it is the best possible bound that can be found
given the same information on the task set (i.e., the Moreover, the total utilization factor is minimized when
individual task utilization factors). computation times have the following relations:
. We analytically derive the asymptotic behavior of 8
the bound as the number of tasks tends to infinity. >
> C1 ¼ T2 ÿ T1
<
. The performance of the test in terms of the C2 ¼ T3 ÿ T2
ð5Þ
acceptance ratio is compared with respect to EDF, >
> 
:
RTA, and the LL-test. Cnÿ1 ¼ Tn ÿ Tnÿ1
. The schedulability test is extended to consider more and the schedulability condition is given by:
realistic cases concerning task sets with shared
resources and aperiodic servers. X
n
Ci  T1 : ð6Þ
The rest of the paper is organized as follows: Section 2
i¼1
presents the hyperbolic feasibility bound for the
RM algorithm, explaining its relation with the classical Fig. 2 illustrates an example of such a worst-case scenario
Liu and Layland approach in the utilization space. Section 3 for a sample set of five periodic tasks. From (5), the
evaluates the theoretical improvement of the proposed test schedulability condition can also be written as
with respect to the Liu and Layland bound as a function of
Cn  2 T1 ÿ Tn ; ð7Þ
n (the number of tasks) and computes its asymptotic value
as n tends to infinity. Section 5 extends the schedulability which implies the schedulability of n and all the other
test to take aperiodic servers and resource constraints into tasks in the set. Starting from such a worst-case scenario,
account. Section 4 presents a number of simulation the least upper bound Ulub of the processor utilization
experiments performed on synthetic task sets aimed at factor can be found by minimizing the expression of Up
comparing the proposed approach with other classical ones with respect to periods. However, we show that the
as a function of the number of tasks. Section 6 presents two minimization process does not simplify the final result,
methods for improving the hyperbolic bound for task sets but only reduces its applicability. In fact, an equally
936 IEEE TRANSACTIONS ON COMPUTERS, VOL. 52, NO. 7, JULY 2003

Fig. 2. Worst-case scenario for a set of five periodic tasks.

simple, but less stringent, result can be derived by


manipulating (5) and (7), as described below. Defining:
Tiþ1 Ci
Ri ¼ and Ui ¼ ;
Ti Ti
(5) can be written as follows:
8
>
> U1 ¼ R1 ÿ 1
<
U2 ¼ R2 ÿ 1
ð8Þ
>
>
:
Unÿ1 ¼ Rnÿ1 ÿ 1:
Fig. 3. Schedulability bounds for RM and EDF in the utilization space.
Now, we notice that:
which intersects each axis in Ulub ðnÞ ¼ n ð21=n ÿ 1Þ, whereas
Y
nÿ1
T2 T3 Tn Tn the EDF bound is represented by an n-dimensional plane
Ri ¼  ¼ :
i¼1
T1 T2 Tnÿ1 T1 which intersects each axis in 1. All points below the
RM surface represent periodic task sets that are feasible
If we divide both sides of the feasibility condition (7) by with both RM and EDF, whereas the region above the
Tn , we get: EDF surface identifies those task sets whose total utilization
2T1 is greater than one and, hence, are not feasible with any
Un  ÿ 1: algorithm. Finally, the region located between the two
Tn
parallel planes of RM and EDF identifies those task sets
Hence, the feasibility condition for a task set which fully which are schedulable by EDF, but cannot be guaranteed to
utilizes the processor can be written as: be schedulable by RM using condition (1).
In the U-space, the RM bound expressed by (4) is
2
Un þ 1  Qnÿ1 : represented by an n-dimensional hyperbolic surface, tan-
i¼1 Ri gent to the RM plane, and having the same axis intersec-
Since Ri ¼ Ui þ 1 for all i ¼ 1; . . . ; n ÿ 1, we have tions as the EDF plane. For this reason, it will be referred to
as the hyperbolic bound, or H-bound for short. Fig. 3
Y
nÿ1
illustrates such bounds for n ¼ 2. Notice that the asymp-
ðUn þ 1Þ ðUi þ 1Þ  2
totes of the hyperbole are at Ui ¼ ÿ1. From the plots, we can
i¼1
clearly see that the feasibility region below the H-bound is
and, finally, larger than that below the LL-bound and the gain is given
Y
n by the dark gray area.
ðUi þ 1Þ  2; A quantitative evaluation of the gain (in terms of
i¼1 schedulability) achieved by the H-bound over the classical
which proves the theorem. u
t LL-bound as a function of the number of tasks is presented
in Section 3.

2.1 Tightness of the H-Bound


Notice that the Liu and Layland bounds expressed by (1) In this section, we show that the hyperbolic bound is
and (2) can easily be represented in the task utilization tight, meaning that it is the best possible bound that
space, denoted as the U-space from now on. In such a space, can be found using the individual task utilization
a point U ¼ fU1 ; U2 ; . . . ; Un g represents a periodic task set factors Ui as a task set knowledge. To show this
whose tasks have utilizations U1 , U2 , . . . , and Un , respec- property, we need to demonstrate that, for any set of
tively. Notice, however, that different task sets with utilization factors fU1 ; U2 ; . . . ; Un g which violates the
different period relations, but the same tasks’ utilizations, hyperbolic bound, it is possible to find a task set ÿ ¼
are mapped on the same point. fðT1 ; C1 Þ; ðT2 ; C2 Þ; . . . ; ðTn ; Cn Þg which is not schedulable.
In the U-space, the Liu and Layland bound for RM The intuitive proof of the tightness for a set of two
(LL bound) is represented by an n-dimensional plane periodic tasks is illustrated in Fig. 4.
BINI ET AL.: RATE MONOTONIC ANALYSIS: THE HYPERBOLIC BOUND 937

Y
nÿ1
ðUn þ 1Þ ðUi þ 1Þ > 2
i¼1
Tn
ðUn þ 1Þ >2
T1
Cn þ Tn > 2T1
Cn þ ðTn ÿ T1 Þ > T1
X
nÿ1
Cn þ Ci > T1
i¼1
Xn
Ci > T1 :
i¼1

Fig. 4. Tightness demonstration sketch (for n ¼ 2). Hence, the constructed task set is not schedulable in
the worst-case scenario (see (6) and Fig. 2). u
t
Given an arbitrary set of Ui (represented by the point in
the U-space) which does not satisfy condition (4), we can 3 COMPARATIVE EVALUATION
always find the task periods (which correspond to the linear In this section, we compute the gain (in terms of schedul-
constrains in Fig. 4) such that the resulting task set is not ability) achieved by the hyperbolic test over the classical Liu
and Layland test as a function of the number of tasks. This
schedulable (that is, the point in the U-space misses the
is done by computing the volume in the U-space of the
constraints). regions underlying the bounds and plotting their ratio as a
More formally, the tightness of the hyperbolic bound is
function of n.
proved by the following theorem. To evaluate the efficiency of the Liu and Layland test, we
Theorem 2. For every set fU1 ; U2 ; . . . ; Un g, 0  Ui  1, such will compute the measure of the region Ln ðAÞ defined as:
( )
that Xn
n
Ln ðAÞ ¼ x 2 IR : xi  0; xi  A : ð10Þ
Y
n
i¼1
ðUi þ 1Þ > 2;
i¼1 In the following, jEj will denote the n-dimensional measure
there exists a task set ÿ ¼ f1 ; . . . ; n g whose tasks have of a subset E of IRn .

utilizations fU1 ; U2 ; . . . ; Un g which cannot be scheduled by the Lemma 1. For every integer n and for all A > 0, we have

RM algorithm. An
jLn ðAÞj ¼ : ð11Þ
Proof. To build the nonschedulable task set, we first choose n!

T1 arbitrarily and then calculate the other parameters as Proof. We will proceed by induction on n. For n ¼ 1,
Ln ðAÞ reduces to the interval ½0; AŠ, hence, its measure
follows:
 is clearly A.
Ci ¼ Ui Ti i ¼ 1; . . . ; n Now, assume that equality (11) is true for n ÿ 1 and
ð9Þ
Tiþ1 ¼ Ti þ Ci i ¼ 1; . . . ; n ÿ 1: for all A > 0. In particular, we have

We observe that the 2n ÿ 1 equations expressed in (9) ðA ÿ xn Þnÿ1


jLnÿ1 ðA ÿ xn Þj ¼ :
have 2n ÿ 1 variables (T2 ; . . . ; Tn ; C1 ; . . . ; Cn ) and, in ðn ÿ 1Þ!
every equation, there is only one unknown, so the Therefore,
system has a unique solution. Following the same Z A Z
jLn ðAÞj ¼ dxn dx1    dxnÿ1
approach used in the proof of Theorem 1, we notice that: 0 Lnÿ1 ðAÿxn Þ
Z
Y
n ÿ1
A
ðA ÿ xn Þnÿ1
Tn ¼ dxn
ðUi þ 1Þ ¼ : 0 ðn ÿ 1Þ!
i¼1
T1
and, defining y ¼ ðA ÿ xn Þ, we can write:
Moreover, by adding the last n ÿ 1 equations in (9), we
Z A nÿ1
have: y An
jLn ðAÞj ¼ dy ¼
0 ðn ÿ 1Þ! n!
X
nÿ1
Tn ÿ T1 ¼ Ci : as required. u
t
i¼1
To evaluate the effectiveness of the hyperbolic test, we
Hence, from the hypothesis, we can write: will compute the measure of the region Hn ðAÞ defined as
938 IEEE TRANSACTIONS ON COMPUTERS, VOL. 52, NO. 7, JULY 2003
( )
Y
n
Proposition 1. As n tends to infinity, the asymptotic behavior of
Hn ðAÞ ¼ x 2 IRn : xi  0; ð1 þ xi Þ  A : ð12Þ
i¼1 n is
pffiffi
Lemma 2. For every integer n and for all A  1, we have n ¼ 2 þ Oðnÿ1 Þ:
" #
X
nÿ1
ðÿ ln AÞk Proof. By observing that
n
jHn ðAÞj ¼ ðÿ1Þ 1 ÿ A : ð13Þ  
k¼0
k! p ffiffi ln 2 ln 2 ln2 2
n
2 ¼ exp ¼1þ þ þ Oðnÿ3 Þ;
n n 2n2
Proof. We will proceed by induction on n. For n ¼ 1, Hn ðAÞ
we can write:
reduces to the interval ½0; A ÿ 1Š, whose measure is  

Ln n ð21=n ÿ 1Þ
clearly A ÿ 1.  ÿp ffiffi n  n
Now, assume equality (13) is true for n ÿ 1 and for all n n2ÿ1 lnn 2 ln 2
A  1. In particular, we have ¼ ¼ 1þ þ Oðnÿ2 Þ
n! n! 2n
    
A lnn 2 ln 2 ÿ2
Hnÿ1 ¼ exp n ln 1 þ þ Oðn Þ
1 þ xn n! 2n
"  
 k # lnn 2 ln 2
nÿ1 A X nÿ2
1 A ¼ exp þ Oðnÿ1 Þ
¼ ðÿ1Þ 1ÿ ÿ ln : n! 2
1 þ xn k¼0 k! 1 þ xn pffiffi lnn 2 ÿ 
¼ 2 1 þ Oðnÿ1 Þ :
Therefore, n!
If we now define
jHn ðAÞj
Z Aÿ1 Z X
k
xj
¼ dxn dx1    dxnÿ1 Sk ðxÞ ¼
0 A
Hnÿ1 ð1þx n
Þ j¼0
j!
Z "  k #
Aÿ1
A 1 X
nÿ2
A
¼ ðÿ1Þnÿ1 1ÿ ÿ ln dxn by Taylor expansion of ex , we obtain
0 1 þ xn k¼0 k! 1 þ xn
xkþ1 xkþ2
and, defining y ¼ ð1 þ xn Þ, we have: ex ¼ Sk ðxÞ þ þ e ;
ðk þ 1Þ! ðk þ 2Þ!
jHn ðAÞj where  2 ðx; 0Þ. Therefore,
Z A "   #
nÿ1 AXnÿ2
1 A k Snÿ1 ðÿ ln 2Þ
¼ ðÿ1Þ 1ÿ ÿ ln dy  
1 y k¼0 k! y ðÿ ln 2Þn ln 2
"   #y¼A ¼ eÿ ln 2 ÿ 1 ÿ e
X
nÿ2
ðÿ1Þk A kþ1 n! nþ1
n  
nÿ1
¼ ðÿ1Þ yþA ln 1 ln 2 ln 2
k¼0
ðk þ 1Þ! y ¼ ÿ ðÿ1Þ n
1ÿe 
;
y¼1
" # 2 n! nþ1
X
nÿ2
ðÿ ln AÞ kþ1
¼ ðÿ1Þnÿ1 A ÿ 1 þ A where  2 ðÿ ln 2; 0Þ. Thus, we have:
k¼0
ðk þ 1Þ!
" # jHn ð2Þj ¼ ðÿ1Þn ½1 ÿ 2 Snÿ1 ðÿ ln 2ފ
n
X
nÿ1
ðÿ ln AÞk  
¼ ðÿ1Þ 1 ÿ A lnn 2 ln 2
k¼0
k! ¼2 1 ÿ e
n! nþ1
as required. u
t lnn 2 ÿ 
¼2 1 þ Oðnÿ1 Þ ;
To evaluate the gain of the hyperbolic test with respect to n!
which gives
the LL test, we have to compute the ratio
pffiffi
jHn ð2Þj n ¼ 2 þ Oðnÿ1 Þ; ð15Þ
n ¼ : ð14Þ
jLn ðn ð21=n ÿ 1ÞÞj as required. u
t
In fact:

. According to (12), jHn ð2Þj represents the hypervo- 4 SIMULATION RESULTS


lume in the U-space of the task sets found schedul-
able by the hyperbolic In this section, we present some simulation experiments we
ÿtest; 
. According to (10), Ln n ð21=n ÿ 1Þ represents the performed on synthetic task sets to evaluate the tightness of
hypervolume in the U-space of the task sets found the H-bound (denoted by HB in the graphs), with respect to
schedulable by the LL test. the Liu and Layland bound (LL in the graphs) and the exact
test given by (3), resulting from the response time analysis
BINI ET AL.: RATE MONOTONIC ANALYSIS: THE HYPERBOLIC BOUND 939

Fig. 5. Feasibility ratios with respect to EDF as a function of n. Fig. 7. Hyperbolic test versus LL-test as a function of n.

(denoted by RTA in the graphs). Simulations have been 5 EXTENSIONS


conducted on randomly generated task sets having the In this section, we extend the hyperbolic approach to take
desired total utilization.
aperiodic servers and shared resources into account. First,
In our experiment, we generated 106 task sets uniformly
distributed in the region Ln ð1Þ of the U-space, as defined by we derive a schedulability condition for a Polling Server
(10). This is the region where task sets are schedulable by [12] scheduled by RM at the highest priority and then
EDF. For different values of n, we computed the number of generalize the analysis to a Deferrable Server. Finally, we
task sets guaranteed by the LL test, by the hyperbolic test, show how to take blocking times into account.
and by the exact test, respectively. Fig. 5 reports such ratios Theorem 3. Let ÿ ¼ f1 ; . . . ; n g be a set of n periodic tasks,
with respect to the total number of generated task sets (we where each task i is characterized by a processor utilization
recall that all task sets are generated to be feasible with
Ui , and let S be a Polling Server with utilization Us ¼ Cs =Ts
EDF). Fig. 6 compares the LL-test and the H-test with
respect to the exact RTA test. such that Ts  minðT1 ; . . . ; Tn Þ (that is, S is assigned the
It is worth noting that, although all the ratios tend to zero highest priority). Then, ÿ is schedulable with the RM
as n tends to infinity, the schedulability gain achieved by algorithm in the presence of server S if
the H-test over the LL-test increases as n gets larger. This Y
n
2
can be clearly seen in Fig. 7, which reports the ratio of the ðUi þ 1Þ  : ð16Þ
number of task sets guaranteed by the H-test and the i¼1
Us þ 1
number of task sets guaranteed by the LL-test,
pffiffi as a function
of n. We observe that the ratio tends to 2, as predicted by Proof. Without loss of generality, assume that tasks are
the asymptotic analysis presented in Section 3. ordered by increasing periods so that 1 is the task with
the highest priority and n is the task with the lowest
priority.
Lehoczky et al. proved in [12] that the worst-case
scenario for the task set occurs when all the tasks start
simultaneously (e.g., at time t ¼ 0) and
8
>
> Ts < Ti < 2Ts 8i ¼ 1; . . . ; n
>
> Cs ¼ T1 ÿ Ts
>
>
>
>
< C1 ¼ T2 ÿ T1
C2 ¼ T3 ÿ T2 ð17Þ
>
>
>
>   
>
>
>
> Cnÿ1 ¼ Tn ÿ Tnÿ1 P
:
Cn ¼ Ts ÿ Cs ÿ nÿ1 i¼1 Ci ¼ 2 Ts ÿ Tn :

Hence, the feasibility condition for a task set which fully


utilizes the processor and minimizes the total utilization
factor can be written as

Cn  2 Ts ÿ Tn
Fig. 6. Feasibility ratios with respect to RTA as a function of n. or (dividing both sides by Tn ) as
940 IEEE TRANSACTIONS ON COMPUTERS, VOL. 52, NO. 7, JULY 2003

Ts 6.1 Task Sets with Harmonic Chains


ðUn þ 1Þ  2 : ð18Þ
Tn
Similarly to what Kuo and Mok presented in [14] for
Following the same approach used for proving improving the Liu and Layland bound, in this section, we
Theorem 1, we define (for all i < n) extend the hyperbolic bound result, using the harmonic
chains concept.
Tiþ1 Let P ¼ fT1 ; T2 ; . . . ; Tn g be the set of periods of a set ÿ ¼
Ri ¼
Ti f1 ; 2 ; . . . ; n g of periodic tasks. A subset R  P is said to be
and notice that a harmonic base of ÿ if there is a partition P of P into jRj
subsets such that:
T1
¼ Us þ 1
Ts 1. Each member of P is the smallest element in exactly
one member of the partition P;
Tn nY ÿ1 Y
nÿ1
¼ Ri ¼ ðUi þ 1Þ: 2. If x and y are two elements in the same member of
T1 i¼1 i¼1 the partition P, then either x divides y or y divides x.
Hence, (18) can be written as We call each subset in the partition P a harmonic chain.
Kuo and Mok also suggested a polynomial algorithm to
Tn Ts find the harmonic base given the task periods and they
ðUn þ 1Þ 2 ;
T1 T1 provided a new bound, better than the Liu and Layland
which leads to one, taking into account such period properties. Their
bound is given by:
Y
n
2
ðUi þ 1Þ  ; X
n
i¼1
Us þ 1 Ui  K ð21=K ÿ 1Þ; ð19Þ
i¼1
as required. u
t
where K  n is the number of harmonic chains.
For a Deferrable Server, the analysis performed in [12] by
In [14], they also proved that all the tasks belonging to
Lehoczky et al. can also be expressed in the hyperbolic the same member S of partition P can be merged together
form. By following the same reasoning presented in [12], in P
into a new task k such that Uk ¼ i 2S Ui , “without changing
the presence of a high priority Deferrable Server, the the schedulability of the whole task set.” We refer to this
constraint on Cn can be written as: modified task set as ÿ .
Applying the hyperbolic bound to ÿ leads to the next
Cn  K T1 ÿ Tn :
interesting theorem:
Us þ2
where K ¼ 2 Us þ1 . Hence, the feasibility condition becomes Theorem 4. Let ÿ ¼ f1 ; . . . ; n g be a set of n periodic tasks,
Y
n
Us þ 2 where each task i is characterized by a processor utilization
ðUi þ 1Þ  : Ui . Let P be the partition in K subsets of the task indexes
i¼1
2 Us þ 1
obtained by grouping the tasks into harmonic chains. Then, ÿ
Analogous considerations can be done for the more precise is schedulable with the RM algorithm if
analysis presented in [13], but they are omitted due to space !
Y X
limitations. 1þ Ui  2: ð20Þ
In the presence of resource constraints, blocking times S2P i2S
due to mutual exclusion can be taken into account in the
hyperbolic test by increasing tasks’ execution times by a Proof. It directly follows from the equivalence, in terms of
suitable blocking factor. Hence, the n schedulability condi- schedulability, between ÿ and ÿ (proven by Theorems 1
and 2 in [14]) and Theorem 1. u
t
tions derived by Sha et al. in [7] can be expressed as follows:

Y
iÿ1   As can be guessed, condition (20) is a relaxation of (4)
Ci þ Bi
8i ¼ 1; . . . ; n ðUk þ 1Þ þ 1  2: because we use the additional information on the harmonic
k¼1
Ti
properties of the tasks periods. This statement is formally
proven in the next theorem.
6 REDUCING PESSIMISM Theorem 5. If a task set satisfies:
In this section, we present two particular task set scenarios Y
n

in which the pessimism of the hyperbolic bound can be ð1 þ Ui Þ  2;


i¼1
reduced to improve schedulability:
then it also satisfies:
1. The first scenario includes task sets with harmonic !
period chains, as also discussed by Kuo and Mok Y X
in [14]; 1þ Ui  2;
S2P i2S
2. The second scenario includes task sets where the
condition T1  Ti  2T1 is relaxed. where P is the partition in harmonic chains.
BINI ET AL.: RATE MONOTONIC ANALYSIS: THE HYPERBOLIC BOUND 941

Fig. 9. Hyperbolic RM bound for different values of F .

which is not trivial to compute.

6.2 Relaxing T1  Ti  2 T1
By relaxing the worst-case condition for which T1 < Ti < 2 T1 ,
a better schedulability test can be found. In this section, we
present the analysis for the simple case of two tasks. By
defining
 
Fig. 8. Schedulability regions of the plain H-bound (a) and its T2
improvement with harmonic chains (b). F ¼ ;
T1

Proof. For the associative property of the product and for the worst-case situation occurs when
the properties of partitions, the hyperbolic bound can be 
C1 ¼ T2 ÿ F T1
written as: ð21Þ
C2 ¼ T2 ÿ ðF þ 1Þ C1 :
" #
Y Y Hence, the schedulability condition can be written as
ð1 þ Ui Þ  2:
S2P i2S  
F þ1
C2  F T2 ÿ1 :
Expanding the innermost product, we have: T2 =T1
Y
ð1 þ Ui Þ Now, observing that
i2S
X X X T2
¼1þ Ui þ Ui Uj þ Ui Uj Uk þ    ¼ U1 þ F ;
T1
i2S i6¼j i6¼j6¼k
X the schedulability condition becomes
1þ Ui :
i2S  
F þ1
U2  F ÿ1 ;
Hence, U1 þ F
! " #
Y X Y Y Y
n that is,
1þ Ui  ð1 þ Ui Þ ¼ ð1 þ Ui Þ  2;
S2P i2S S2P i2S i¼1 U2 F þ1
þ1 ;
F U1 þ F
as required. u
t
Fig. 8 provides a graphical representation of the and, finally,
improvement for a simple case of three tasks, 1 , 2 , and 2 
Y 
Ui 1
3 , in which 1 and 2 have harmonic periods and, hence, þ1 þ 1: ð22Þ
F F
can be grouped into a chain. i¼1
A precise evaluation of the gain introduced by the Fig. 9 plots (22) in the U-space for different values of the
harmonic chain method would require computing the
F parameter. In this case, the asymptotes intersect each axis
measure of
in ÿF , so the hyperbole tends to approach the EDF line as F
( ! )
Y X gets larger.
n
Kn ðPÞ ¼ x 2 IR : xi  0; 1þ xi  2 Unfortunately, generalizing (22) to the case of n tasks is
S2P i2S
not trivial and will be investigated as future work.
942 IEEE TRANSACTIONS ON COMPUTERS, VOL. 52, NO. 7, JULY 2003

7 CONCLUSIONS [14] T.-W. Kuo and A.K. Mok, “Load Adjustment in Adaptive Real-
Time Systems,” Proc. IEEE Real-Time Systems Symp., Dec. 1991.
In this paper, we presented a hyperbolic schedulability
bound for the Rate Monotonic algorithm and evaluated its Enrico Bini is a PhD student in computer
engineering at Scuola Superiore S. Anna in
effectiveness with respect to the classical Liu and Layland Pisa, Italy. In 2000, he graduated in the same
utilization bound and the necessary and sufficient condition subject from the University of Pisa and received,
computed through a response time analysis. The asymptotic in the same year, the Licenza at Scuola Super-
iore S. Anna, where he won a national competi-
behavior of the hyperbolic bound relative to the LL bound tion as a student. In 1999, through a European
was also computed
pffiffi for n tending to infinity and found to be Union student exchange program, he studied at
equal to 2. Since the hyperbolic test has an OðnÞ the Delft University of Technology in The Neder-
lands. His interests cover scheduling algorithms,
complexity, it can be effectively used to perform online real-time operating systems, linear programming, and combinatorial
admission control in large periodic task sets under the RM optimization.
algorithm, when the exact schedulability analysis cannot be
applied for efficiency reasons. Giorgio C. Buttazzo graduated in electronic
engineering from the University of Pisa in 1985,
We proved that the hyperbolic bound is the tightest received the Master’s degree in computer
among those using task utilizations as application para- science from the University of Pennsylvania in
meters and we showed how the proposed analysis can be 1987, and the PhD degree in computer en-
gineering from the Scuola Superiore S. Anna of
improved by relaxing some pessimistic assumptions typi-
Pisa in 1991. He is an associate professor of
cally made on the task set to take advantage of additional computer engineering at the University of Pavia,
knowledge on the application. In particular, we considered Italy. His main research interests include real-
the case in which some tasks may have harmonic period time operating systems, dynamic scheduling
algorithms, quality of service control, multimendia systems, advanced
relations and the case in which periods are not constrained robotics applications, and neural networks. He is a member of the IEEE
to be in the worst-case configuration. and the IEEE Computer Society.
As future work, we believe additional pessimistic
assumptions can be relaxed or special task set character- Giuseppe M. Buttazzo graduated in mathe-
matics from the University of Pisa in 1976 and
istics identified to improve the schedulability of the received, in the same year, the Diploma of
RM algorithm within the same computational complexity. Scuola Normale Superiore di Pisa, where he
We are also investigating the possibility of deriving a won a national competition as a student. He was
a PhD student from 1976 until 1980 at Scuola
tighter schedulability condition with polynomial complex- Normale di Pisa, where he also received his first
ity as a function of arbitrary period relations. permanent position as a researcher in 1980. He
became a full professor in mathematical analysis
at the University of Ferrara in 1986 and moved,
REFERENCES in 1990, to the University of Pisa, where he presently works in the
Department of Mathematics. His main research interests include
[1] J. Locke, “Designing Real-Time Systems,” invited talk at IEEE Int’l calculus of variations, partial differential equations, optimization pro-
Conf. Real-Time Computing Systems and Applications, Dec. 1997. blems, optimal control theory. On these subjects, he has written more
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no. 1, pp. 40-61, 1973.
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[7] L. Sha, R. Rajkumar, and J.P. Lehoczky, “Priority Inheritance
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[9] J.W.S. Liu, Real-Time Systems. Prentice Hall, 2000.
[10] E. Bini, G.C. Buttazzo, and G.M. Buttazzo, “A Hyperbolic Bound
for the Rate Monotonic Algorithm,” IEEE Proc. 13th Euromicro
Conf. Real-Time Systems, June 2001.
[11] R. Devillers and J. Goossens, “Liu and Layland’s Schedulability
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Responsiveness in Hard Real-Time Environments,” Proc. IEEE
Real-Time Systems Symp., pp. 261-270, 1987.
[13] J.K. Strosnider, J.P. Lehoczky, and L. Sha, “The Deferrable Server
Algorithm for Enhanced Aperiodic Responsiveness in Hard Real-
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