Real time scheduling and CPU power consumption in embedded systems

Minimizing the CPU power consumption for real time embedded systems is a subject at the confluence of several domains: the conception of embedded systems, the scheduling theory, and the theory of real time operating systems. We are concerned here about the processor(s) power consumption induced by the task execution. We are interested to study real time scheduling theory from the view point of CPU power consumption. This means to add the CPU speed as parameter in the scheduling theory. The mono and multi processors cases are treated unitary. We develop in this paper some results of this extended scheduling theory: necessary and sufficient feasibility condition, globally optimal scheduling, and task distribution on the CPUs for an optimal scheduling from the viewpoint of CPU power consumption.