Schedulability analysis for fault-tolerant hard real-time systems based on rollback recovery
DING Wan-fu, GUO Rui-feng, ZHAO Jin, LIU Xian, LI Jie
Journal of Systems Engineering and Electronics . 2011, (7): 1673 -1679 .  DOI: 10.3969/j.issn.1001-506X.2011.07.46