Response-time Analysis of Fault-Tolerant Hard Real-Time Systems Under Global Scheduling

Real-time systems are commonly used in safety-critical applications which require tasks to be completed before their deadlines, even in the presence of faults. Thus, fault tolerance becomes essential to ensure a certain level of reliability in safety-critical real-time systems [1]. To achieve fault tolerance in computer systems, redundancy can be implemented either in space (spatial redundancy) or time (time redundancy) [2]. Unlike spatial redundancy which involves increasing hardware resources, time redundancy focuses on re-execution or multiple executions of software on the same hardware resources [3] and therefore is better suited for embedded systems with limited cost and size constraints that are subject to transient faults more often than permanent faults [2], [4]