Description: This volume contains the proceedings of the 21st IFAC/IFIP Workshop on Real Time Programming (WRTP'96) held in Gramado, Brazil on 4-6 November 1996. Over the years, this series of annual workshops has become an excellent forum for exchanging information on technological advances and practices in real time computing - a field that is rapidly becoming an essential enabling discipline in computer science and engineering.The technical programme of the workshop maintained the outstanding quality of the series and covered all the latest research and developments in scheduling, operating systems, communications, timing analysis, system development, databases, formal methods and applications. In addition to high quality papers, the programme featured three world class keynote speakers and some poster presentations. These proceedings, therefore, comprise 21 full papers, three keynote addresses and five short contributions.

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