Real-time Software Systems,J. E. Cooling

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

Event Streams in Action: Real-Time Event Systems with Kafka and Kinesis

Embedded Microcomputer Systems: Real Time Interfacing by Jonathan W. Valvano

Real-Time Systems and Software by Alan C. Shaw

Real Time UML: Advances in the UML for Real-Time Systems by Douglass, Bruce

Embedded Software Timing by Peter Gliwa.

Embedded Microcomputer Systems: Real Time Interfacing by Jonathan W. Valvano