Determining optimal processor speeds for periodic real-time tasks with different power characteristics

In this paper, we provide an efficient solution for periodic real-time tasks with (potentially) different power consumption characteristics. We show that a task T_i can run at a constant speed S_i at every instance without hurting optimality. We sketch an O(n² log n) algorithm to compute the optimal S_i values. We also prove that the EDF (Earliest Deadline First) scheduling policy can be used to obtain a feasible schedule with these optimal speed values