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OCR: Algorithm Type Schedulability Test Comment Rate monotonic (RM) Static Total load under limit defined Stable by algorithm task model. Earliest deadline (EDF) Dynamic Meeting of first deadline. Total load under 100% Least laxity (LLF) Least number of context switches Dynamic Total load under 100% Maximum urgency first (MUF) Early detection of timing failures Mixed Critical load under 100% Stable; 100% schedule bound Table 1: Summary of RM, EDF, LLF, and MUF scheduling algorithms.