Real-Time and Real-Fast Performance of General-Purpose and Real-Time Operating Systems in Multithreaded Physical Simulation of Complex Mechanical Systems

Table 1

Summary of worst-case latencies (in nanoseconds) in the three tests of the microbenchmark for RTOS selection.

	Task switch (ns)	Preemption (ns)	IPC (ns)
RTAI	12060	14855	12986
Xenomai	1422	2922	1282
RT-Preempt	27085	15986	19776
Linux	13200	>10^6	12453