“…Therefore, a computer-controlled system needs to incorporate, in accordance with the requirements of the chosen application, Manuscript a wide variety of often conflicting functional/nonfunctional objectives and it is then natural to characterize all these setups within a real-time framework [29], [34]. Examples of real-time applications are numerous in literature ranging from manufacturing control, robot operations in hazardous environments or life-threatening situations, cruise control in cars and planes, multimedia/telecommunications, surveillance/monitoring, and so on [12], [21], [24]. The main motivations behind a real-time control scheme can be summarized as: complex and often conflicting objectives (such as functionality, timeliness, fault-tolerance), a significant parallelism degree and, in some cases, the integration of multiple existing large-scale systems.…”