Configurable Time-Redundant Task Execution for Fault-Tolerant Real-Time Systems

The design of fault-tolerant real-time systems is characterized by a trade-off between performance considerations and fault-tolerance aspects. This paper presents a design approach that provides three strategies for time-redundant execution of the tasks of an application. The three execution strategies differ in their faulttolerance and performance properties such that a software designer can tailor the structure of the application software to the performance and fault-tolerance needs of an application. The paper describes the three time-redundant execution strategies and compares them with respect to fault tolerance, CPU-time requirements, and schedulability