- Real-time scheduling on processors that support dynamic voltage and frequency scaling is analyzed. The Slacked Earliest Deadling First (SEDF) algorithm is proposed and it is shown that the algorithm is optimal in minimizing processor energy consumption and maximum lateness. An upper bound on the processor energy savings is also derived. Real-time scheduling of periodic tasks is also analyzed and optimal voltage and frequency allocation for a given task set is determined that guarantees schedulability and minimizes energy consumption.