Research Article

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

Procedure 1

Procedure for finding optimal and .
FindOptimalPhases:
Input: ,
Output: and
begin procedure
() Set each at
() while () do
()    Choose with the lowest
()    Check the schedulability for upper and right directions
()     if Case in Figure 3(a) then
()      Move to the lower slope direction
()     end if
()     if Case in Figure 3(b) then
()      Move to the lower slope direction
()    end if
()    if Case in Figure 3(c) then
()     Move to the lower slope direction
()    end if
()    if Case in Figure 3(d) then
()     Visit every cell in the lower slope direction and compare
()     Move to the lower direction
()    end if
()    if the system is schedulable then
()    break
()    end if
()end while
end procedure