Changjiu Xian Yung-Hsiang Lu Zhiyuan Li Dynamic Voltage Scaling for Multitasking Real-Time Systems With Uncertain Execution Time. 1467-1478 2008 27 IEEE Trans. on CAD of Integrated Circuits and Systems 8 http://dx.doi.org/10.1109/TCAD.2008.925778 db/journals/tcad/tcad27.html#XianLL08