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Distinguishing between systems where a late result is a total failure (hard) versus those where it merely degrades quality (soft). Resources and Links realtime systems by jane w s liu pdf link
The book "Real-Time Systems" by Jane W.S. Liu is a comprehensive textbook that covers the fundamental concepts, principles, and techniques of real-time systems. The book provides an in-depth treatment of the design, implementation, and analysis of real-time systems, with a focus on predictability, reliability, and performance. If you are interested in learning more about