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There are many kinds of Real Time Operating System (RTOS) can be found at the present time. This research aims to benchmark and analyze two kinds of RTOS; kernel based and embedded RTOS. Benchmarking information about performance of a RTOS is really important in order to choose appropriate RTOS. We use Xenomai and RT Patch Linux for kernel based RTOS and eCos for embedded RTOS. Benchmarking is done by comparing four performance metrics and assessing performance of a test bed application. The four performance metrics are interrupt latency, task switching time, preemption time, and deadlock break time. Testing result shows that embedded RTOS is appropriate for executing one task application while kernel based RTOS is suitable to execute multitasking applications. Testing result also shows that the network packet processing of embedded RTOS is faster than kernel based RTOS.