Real-time computing systems are essential in various critical applications such as nuclear power plants, railway systems, automotive electronics, and military systems. This book provides a comprehensive overview of predictable scheduling algorithms and their applications in real-time computing. It focuses on the fundamental concepts of real-time computing, including task scheduling, resource access protocols, and kernel design issues. The book is structured to introduce the basic principles of real-time systems and their scheduling algorithms, with an emphasis on achieving predictability and reliability. The book begins with an introduction to real-time computing and operating systems, followed by a discussion of scheduling concepts, including task constraints, scheduling anomalies, and various scheduling algorithms. It covers periodic task scheduling, fixed-priority servers, dynamic priority servers, and resource access protocols. The text also addresses the challenges of handling overload conditions and the design of real-time kernels for critical applications. The book presents detailed analysis of scheduling algorithms such as Rate Monotonic, Earliest Deadline First, and Deadline Monotonic, along with their performance evaluation. It discusses resource access protocols like Priority Inheritance, Priority Ceiling, and Stack Resource Policy, which are essential for ensuring predictable behavior in real-time systems. The text also explores the design of real-time applications, including a robot control example, and presents several real-time operating systems such as MARS, Spring, RK, ARTS, and HARTIK. The book is written for instructional purposes and is organized to make the material accessible to readers without a strong background in the subject. Technical concepts are clearly defined, and algorithm descriptions are supported by examples, illustrations, and tables. The book aims to provide the basic methodologies for designing predictable computing systems that are essential for supporting critical control applications. It is a valuable resource for students, researchers, and professionals in the field of real-time computing and embedded systems.Real-time computing systems are essential in various critical applications such as nuclear power plants, railway systems, automotive electronics, and military systems. This book provides a comprehensive overview of predictable scheduling algorithms and their applications in real-time computing. It focuses on the fundamental concepts of real-time computing, including task scheduling, resource access protocols, and kernel design issues. The book is structured to introduce the basic principles of real-time systems and their scheduling algorithms, with an emphasis on achieving predictability and reliability. The book begins with an introduction to real-time computing and operating systems, followed by a discussion of scheduling concepts, including task constraints, scheduling anomalies, and various scheduling algorithms. It covers periodic task scheduling, fixed-priority servers, dynamic priority servers, and resource access protocols. The text also addresses the challenges of handling overload conditions and the design of real-time kernels for critical applications. The book presents detailed analysis of scheduling algorithms such as Rate Monotonic, Earliest Deadline First, and Deadline Monotonic, along with their performance evaluation. It discusses resource access protocols like Priority Inheritance, Priority Ceiling, and Stack Resource Policy, which are essential for ensuring predictable behavior in real-time systems. The text also explores the design of real-time applications, including a robot control example, and presents several real-time operating systems such as MARS, Spring, RK, ARTS, and HARTIK. The book is written for instructional purposes and is organized to make the material accessible to readers without a strong background in the subject. Technical concepts are clearly defined, and algorithm descriptions are supported by examples, illustrations, and tables. The book aims to provide the basic methodologies for designing predictable computing systems that are essential for supporting critical control applications. It is a valuable resource for students, researchers, and professionals in the field of real-time computing and embedded systems.