Real-time Software Systems By J.E. Cooling

Software Design for Real-Time Systems - Cooling, J. E.

Real-Time Software Hardcover Robert L. Glass

Real-Time Systems and Software by Alan C. Shaw

Embedded Software Timing by Peter Gliwa.

Software Engineering for Real-Time Systems by Cooling, Jim Paperback / softback

Performance Analysis of Real-Time Embedded Software

Software Engineering for Real-Time Systems Volume 1: Foundations by Cooling, ...