Real-Time Systems Design and Analysis

I have a few books on real-time systems, ranging from hardware to software-based systems. I think this is the only one that really handles the spectrum as an integrated whole, rather than components that should get jammed together by some systems guy that no one listens to until it's too late to fix things.

This is a fine, comprehensive textbook for real-time systems. It covers many aspects of real-time systems in an even, consistent way.