If you are looking for specific aspects of real-time design, these open-access or preview links may also be useful:
Using algorithms like Rate-Monotonic Scheduling (RMS) to guarantee that all tasks meet their deadlines. If you are looking for specific aspects of
Realtime systems are unforgiving, but with the right principles, practices, and portable documentation, you can build systems that are not just fast—but exactly on time. but with the right principles
Find or lecture notes on these topics.
The following principles form the bedrock of any robust realtime system. A good on this subject will dedicate entire chapters to these concepts. and portable documentation
Hardware and Drivers