Compositional real-time scheduling framework for periodic reward-based task model

► The imprecise resource model is proposed to support the imprecise resource supply. ► An imprecise interface model to abstract the demand of components is provided. ► The schedulability is analyzed to guarantee mandatory parts under EDF and RM. ► The weakly schedulability of potentially non schedulable components is introduced. ► A scheduling algorithm that guarantees a minimum reward to components is proposed. As the size and complexity of embedded software systems increase, compositional real-time scheduling framework is widely accepted as means to build large and complex systems. A compositional real-time scheduling framework proposes to decompose a system into independent subsystems and provides ways to assemble them into a flexible hierarchical real-time scheduling system while guaranteeing the internal real-time requirements of each subsystem. In this paper, we consider the imprecise reward-based periodic task model in compositional scheduling framework. Thus, we introduce the imprecise periodic resource model to characterize the imprecise resource allocations provided by the system to a single component, and the interface model to abstract the imprecise real-time requirements of the component. The schedulability of mandatory parts is also analyzed to meet the minimum requirement of tasks. Finally, we provide a scheduling algorithm to guarantee a certain amount of reward, which makes it feasible to efficiently compose multiple imprecise components.