Luigi Palopoli Luca Abeni Fabio Conticelli Marco Di Natale Giorgio C. Buttazzo Real-Time control system analysis: an integrated approach. 131-140 2000 RTSS http://doi.ieeecomputersociety.org/10.1109/REAL.2000.896003 conf/rtss/2000 db/conf/rtss/rtss2000.html#PalopoliACNB00