Scheduling periodic task systems to minimize output jitter

Output jitter-the variation in the intercompletion times of successive jobs of the same task is studied in the context of the preemptive uniprocessor scheduling of periodic real-time tasks. A formal quantitative model for output jitter is proposed. A list of properties that are desirable in any jitter-minimization schedule is enumerated. Algorithms are presented for generating such schedules, and bounds proved for the maximum jitter in schedules generated by these algorithms