James H. Anderson Anand Srinivasan Mixed Pfair/ERfair scheduling of asynchronous periodic tasks. 157-204 2004 68 J. Comput. Syst. Sci. 1 http://dx.doi.org/10.1016/j.jcss.2003.08.002 db/journals/jcss/jcss68.html#AndersonS04