Articulo: Real-Time Operating Systems for DSP (part 6 -8) por Robert Oshana

Part 6 reviews various RTOS scheduling algorithms and explains the pros and cons of each.
Part 8 shows how to analyze systems with aperiodic tasks. It also shows how to avoid priority inversion by using priority inheritance.
Part 7 shows how to analyze scheduling behavior, and how to ensure tasks meet their deadlines.