
50 Time-Triggered Communication
depending on the (stochastic) time of the request instant relative to the preplanned
send instants of the time-triggered communication protocol. In the worst case, the
transmission of a sporadic or aperiodic message is requested immediately after a send
instant, thereby incurring a delay equal to the period of the communication slot. At
the cost of additional communication resources, this network delay can be reduced by
increasing the frequency of the communication slots reserved for sporadic and ape-
riodic messages. In order to reduce the consumption of communication resources,
several time-triggered communication protocols ...