Real-time Software Systems,J. E. Cooling

Software Design Methods for Concurrent and Real-Time Systems Hass

Software Specification and Design: A Disciplined Approach for Real-Time Systems

Real-time Software Systems By J.E. Cooling

Real-Time Design Patterns: Robust Scalable Architecture for Real-Time Systems

Embedded Software Timing by Peter Gliwa.

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