@article{pal02-cep,
title = {Novel scheduling policies in real-time multithread control system design},
author = {Luigi Palopoli and Luca Abeni and Gabriele Bolognini and Benedetto Allotta and Fabio Conticelli},
journal={Control Engineering Practice},
year = {2002},
volume ={10},
number={10},
pages={1095-1110},
month = {November}
}