  Selecting period values for tasks is a very important step in the design
process of a real-time system, especially due to the significance of its impact
on system schedulability. It is well known that, under RMS, the utilization
bound for a harmonic task set is 100%. Also, polynomial-time algorithms have
been developed for response-time analysis of harmonic task sets. In practice,
the largest acceptable value for the period of a task is determined by the
performance and safety requirements of the application. In this paper, we
address the problem of assigning harmonic periods to a task set such that every
task gets assigned an integer period less than or equal to its application
specified upper bound and the task utilization of every task is less than 1. We
focus on integer solutions given the discrete nature of time in real-time
computer systems.
  We first express this problem of assigning harmonic periods to a task set as
a discrete piecewise optimization problem. We then present the 'Discrete
Piecewise Harmonic Search' (DPHS) algorithm that outputs an optimal harmonic
task assignment. We then define conditions for a metric to be rational for
harmonization. We show that commonly used metrics like, the total percentage
error (TPE), total system utilization (TSU), first order error (FOE), and
maximum percentage error (MPE), are rational. We next prove that the DPHS
algorithm finds the optimal feasible assignment, if one exists, for these
rational metrics. We apply the DPHS algorithm to harmonize task sets used in
real-world applications to highlight its benefits. We compare the performance
of the DPHS algorithm against a brute-force search and find that the DPHS
searches up to 94\% fewer task sets than the brute-force search that obtains
the optimal solution.

Systems and Control;Performance;Robotics;Systems and Control