Today, a considerable portion of embedded systems, e.g., automotive and avionic, comprise several control applications. Guaranteeing the stability of these control applications in embedded systems, or cyber-physical systems, is perhaps the most fundamental requirement while implementing such applications. This is different from the classical hard real-time systems where often the acceptance criterion is meeting the deadline. In other words, in the case of control applications, guaranteeing stability is considered to be a main design goal, which is linked to the amount of delay and jitter a control application can tolerate before instability. This advocates the need for new design and analysis techniques for embedded real-time systems running control applications. In this paper, the analysis and design of such systems considering a server-based resource reservation mechanism are addressed. The benefits of employing servers are manifold: providing a compositional and scalable framework, protection against other tasks misbehaviors, and systematic bandwidth assignment and co-design. We propose a methodology for designing bandwidth-optimal servers to stabilize control tasks. The pessimism involved in the proposed methodology is both discussed theoretically and evaluated experimentally.
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