Apparatus, method and computer program for dynamic slip control in real-time scheduling

An apparatus, method, and computer-readable program code for dynamically controlling slip is disclosed. The method monitors the time of an actual interrupt, wakes up, interacts with the physical environment, and then notes the completion time and reduces a wait period. The wait period ends in a scheduled interrupt time. By reducing the wait period based on the difference between the actual interrupt time (instead of the scheduled interrupt time) and the completion time, slip is prevented from accumulating and is reduced.