Optimal real-time scheduling is effective to not only schedulability improvement but also energy efficiency for real-time systems. In this paper, we propose real-time static voltage and frequency scaling (RT-SVFS) techniques based on an optimal real-time scheduling algorithm for multiprocessors. The techniques are theoretically optimal when the voltage and frequency can be controlled both uniformly and independently among processors. Simulation results show that the independent RT-SVFS technique closely approaches the lower bound on energy consumption if the voltage and frequency can be controlled minutely.
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