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Failure detection is an essential part to build high dependable distributed real-time embedded systems. However, the performance degradation of production work due to the execution of failure detection cannot be omitted. We present an adaptive performance management method for failure detection based on feedback control theory. This method is autonomous and thus allows the system to self-manage the CPU resources allocated for failure detection, with only the high-level policy input. Therefore, it limits the performance impact due to the execution of failure detection, even in the dynamic environment.