Real-time Computation - a Formal Definition and Its Applications
By Stefan D. Bruda and Selim G. Akl. The most complete variant is available and includes almost all the material from Towards a meaningful formal definition of real-time computations, (ISCA 15th International Conference on Computers and Their Applications, 2000), Real-Time Computation: A Formal Definition and Its Applications (IPDPS 2001), and the IJCA paper (an aggregate of the first two).
