Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications is a basic treatise on real-time computing, with particular emphasis on predictable scheduling algorithms. It introduces the fundamental concepts of real-time computing, illustrates the most significant results in the field, and provides the essential methodologies for designing predictable computing systems which can be used to support critical control applications.This volume serves as a textbook for advanced level courses on the topic. Each chapter provides basic concepts, which are followed by algorithms that are illustrated with concrete examples, figures and tables. Exercises are included with each chapter and solutions are given at the end of the book. The book also provides an excellent reference for those interested in real-time computing for designing and/or developing predictable control applications.