K. Arzén, B. Bernhardsson, J. Eker, A. Cervin, P. Persson et al., Integrated control and scheduling, 1999.

K. Arzén, A. Cervin, J. Eker, and L. Sha, An introduction to control and scheduling co-design, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187), 2000.
DOI : 10.1109/CDC.2001.914701

K. Aström and B. Wittenmark, Computer-Controlled Systems -Theory and Design, 1990.

N. Audsley, A. Burns, R. Davis, K. Tindell, and A. Wellings, Fixed priority preemptive scheduling: An historical perspective, Real-Time Systems, pp.173-198, 1995.

F. Baccelli, B. Gaujal, and D. Simon, Analysis of preemptive periodic real-time systems using the (max, plus) algebra with applications in robotics, IEEE Transactions on Control Systems Technology, vol.10, issue.3, pp.368-380, 2002.
DOI : 10.1109/87.998024
URL : https://hal.archives-ouvertes.fr/inria-00100900

F. Baccelli, G. Gohen, G. J. Olsder, and J. Quadrat, SynchronizatioN and LinearitY : An Algebra for Discrete Event Systems, Wiley Series in Probability and Mathematical Statistics, 1992.

F. Benattar, Programmation et vérification de tâches robotiques multicadences, Master's thesis, 2001.

G. Bernat, A. Burns, and A. Llamosí, Weakly hard real-time systems, IEEE Transactions on Computers, vol.50, issue.4, pp.308-321, 2001.
DOI : 10.1109/12.919277

A. Bouajjani, R. Echahed, and J. Sifakis, On model checking for real-time properties with durations, [1993] Proceedings Eighth Annual IEEE Symposium on Logic in Computer Science, 1993.
DOI : 10.1109/LICS.1993.287592

A. Burns and A. Wellings, HRT-HOOD: A structured design method for hard real-time systems, Real-time Systems, vol.36, issue.1, 1995.
DOI : 10.1007/BF01245300

A. Burns, A. Wellings, F. Burns, A. Koelmans, M. Koutny et al., Towards modelling and verification of concurrent Ada programs using Petri-nets, Workshop on Software Engineering and Petri Nets, pp.115-134, 2000.

A. Cervin, Integrated Control and Real-Time Scheduling, 2003.

J. Chen, B. Armstrong, R. Fearing, and J. Burdick, Satyr and the nymph: Software archetype for real time robotics, IEEE-ACM Joint Computer Conference

P. Chevochot and I. Puaut, Experimental evaluation of the fail-silent behavior of a distributed real-time run-time support built from COTS components, Proceedings International Conference on Dependable Systems and Networks, pp.304-313, 2001.
DOI : 10.1109/DSN.2001.941415

J. Eker and A. Cervin, A Matlab toolbox for real-time and control systems co-design, Proceedings Sixth International Conference on Real-Time Computing Systems and Applications. RTCSA'99 (Cat. No.PR00306), pp.320-327, 1999.
DOI : 10.1109/RTCSA.1999.811266

J. Ermont and F. Boniol, TPAP, Electronic Notes in Theoretical Computer Science, vol.65, issue.6, 2002.
DOI : 10.1016/S1571-0661(04)80470-5

J. Esparza and M. Nielsen, Decibility issues for Petri nets -a survey, Journal of Informatik Processing and Cybernetics, vol.30, issue.3, pp.143-160, 1994.

C. Fidge, Real-time schedulability tests for preemptive multitasking, Real-Time Systems, vol.14, issue.1, pp.61-93, 1998.
DOI : 10.1023/A:1007993819750

A. Girault, C. Lavarenne, M. Sighireanu, and Y. Sorel, Fault-tolerant static scheduling for real-time distributed embedded systems, Proceedings 21st International Conference on Distributed Computing Systems, 2001.
DOI : 10.1109/ICDSC.2001.919002
URL : https://hal.archives-ouvertes.fr/inria-00072638

H. Klaudel and F. Pommereau, A Concurrent and Compositional Petri Net Semantics of Preemption, Integrated Formal Methods, pp.318-337, 2000.
DOI : 10.1007/3-540-40911-4_19
URL : https://hal.archives-ouvertes.fr/hal-00114693

C. Liu and J. Layland, Scheduling algorithms for multiprogramming in hard real-time environment, Journal of the ACM, vol.20, issue.1, pp.40-61, 1973.

C. Lu, J. Stankovic, T. Abdelzaher, G. Tao, S. Son et al., Performance specifications and metrics for adaptive real-time systems, Time Systems Symposium, 2000.

M. Mejia, D. Simon, P. Belmans, and J. Borrelly, Mécanismes de synchronisation dans un système robotique réparti, Séminaire franco-brésilien sur les systèmes informatiques répartis, 1989.

T. Murata, Petri nets: Properties, analysis and applications, Proceedings of the IEEE, pp.541-580, 1989.
DOI : 10.1109/5.24143

J. Nilsson, B. Wittenmark, M. Törngren, and M. Sanfridson, Timing problems in real-time control systems, p.20, 1998.

P. Puschner and A. Burns, Guest Editorial, -3), pp.115-128, 2000.
DOI : 10.1007/s11241-005-0501-2

C. Ramamoorthy and G. Ho, Performance evaluation of asynchronous concurrent systems using Petri nets, IEEE Trans. on Software Engineering, vol.6, issue.5, pp.440-449, 1980.

M. Ryu, S. Hong, and M. Saksena, Streamlining real-time controller design: from performance specifications to end-to-end timing constraints, IEEE Real Time Systems Symposium, 1997.

K. Sandström and C. Norström, Managing complex temporal requirements in real-time control systems, Proceedings Ninth Annual IEEE International Conference and Workshop on the Engineering of Computer-Based Systems, 2002.
DOI : 10.1109/ECBS.2002.999828

M. Sanfridson, Problem formulations for qos management in automatic control, 2000.

L. Sha, R. Rajkumar, and J. P. Lehoczky, Priority inheritance protocols: an approach to real-time synchronization, IEEE Transactions on Computers, vol.39, issue.9, pp.1175-1185, 1990.
DOI : 10.1109/12.57058

D. Simon, E. Castillo, and P. Freedman, Design and analysis of synchronization for real-time closed-loop control in robotics, IEEE Transactions on Control Systems Technology, vol.6, issue.4, pp.445-461, 1998.
DOI : 10.1109/87.701336

D. Simon, B. Espiau, E. Castillo, and K. Kapellos, Computer-aided design of a generic robot controller handling reactivity and real-time control issues, IEEE Transactions on Control Systems Technology, vol.1, issue.4, pp.213-229, 1993.
DOI : 10.1109/87.260267
URL : https://hal.archives-ouvertes.fr/inria-00074872

H. Simpson, Multireader and multiwriter asynchronous communication mechanisms, IEE Proceedings-Computer and Digital Techniques, pp.241-244, 1997.
DOI : 10.1049/ip-cdt:19971220

M. Spuri and J. Stankovic, How to integrate precedence constraints and shared resources in real-time scheduling, IEEE Transactions on Computers, vol.43, issue.12, pp.1407-1412, 1994.
DOI : 10.1109/12.338100

M. Törngren, Fundamentals of Implementing Real-Time Control Applications in Distributed Computer Systems, Real Time Systems, vol.14, issue.3, pp.219-250, 1998.
DOI : 10.1007/978-0-585-35223-7_2

B. Wittenmark, A sample-induced delays in synchronous multirate systems, European Control Conference, pp.3276-3281, 2001.