Finally, the priority promotion time of the hard real-time task and the schedulability are investigated.

分析了强实时任务实例优先级提升时间和任务集的可调度性。

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The hard periodic task and soft aperiodic task are two basic types of real-time task; their hybrid scheduling is an important part of real-time research.

硬实时周期任务和软实时非周期任务是实时系统中两种基本的任务类型，它们的混合调度问题是实时研究的重点之一。

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Since the real time task sets in control system consist of hard real time periodic tasks and soft real time period tasks, the dual priority algorithm is adopted for scheduling these tasks.

根据控制系统中存在强实时周期任务和软实时周期任务的特点，采用双优先级算法进行任务调度。

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