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

Table 2

Comparison of the worst-case latencies (in nanoseconds) of the microbenchmark on the Linux kernel used in Xenomai (3.5.7) and on the Linux kernel used in RTAI (2.6.38).

	Task switch (ns)	Preemption (ns)	IPC (ns)
3.5.7	13200	>10^6	12453
2.6.38	125435	>10^6	147888