Timeline scheduling
Advantages
simple implementation (no real-time operating system is required)
each procedure shares a common address space
low run-time overhead
it allows jitter control
Timeline scheduling
Disadvantages
it is not robust during overloads
it is difficult to expand the schedule
it is not easy to handle aperiodic activities
all process periods must be a multiple of the minor cycle time
it is difficult to incorporate processes with long periods
difficult to construct and difficult to maintain
any process with a variable computation time will need to be split into a fixed number of fixed sized procedures
determinism is not required, but predictability is