Leva, Alberto; Maggio, Martina; Papadopoulos, Alessandro Vittorio; Terraneo, Federico: 'Control-Based Operating System Design' (Control, Robotics and Sensors, 2013) DOI: 
IET Digital Library, https://digital-library.theiet.org/;jsessionid=otqguak4neae.x-iet-live-01content/books/ce/pbce089e