Hard real-time computing systems is a basic treatise on real-time computing with particular emphasis on predictable scheduling algorithms. The main objectives of the book are to introduce the basic concepts of real-time computing illustrate the most significant results in the field, and provide the basic methodologies for designing predictable computing systems useful in supporting critical control applications. The book is written for instructional use and is organized to enable readers without a strong knowledge of the subject matter to quickly grasp the material. Technical concepts are clearly defined at the beginning of each chapter and algorithm descriptions are reinforced through concrete examples, illustrations, and tables. A set of exercises is included at the end of each chapter and solutions are given at the end of the book.