Control-Scheduling Codesign Exploiting Trade-Off between Task Periods and Deadlines

Figure 3

The four cases to be considered by our heuristic algorithm. S and N mean schedulable and not schedulable, respectively. H and L mean higher slope and lower slope, respectively.

(a) Both directions are schedulable

(b) Both directions are not schedulable

(c) Lower slope is schedulable, but higher slope is not schedulable

(d) Lower slope is not schedulable, but higher slope is schedulable