CPU Scheduling

Electrical and Computer Engineering

Stephen Kim (dskim@iupui.edu)

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CPU Scheduling
n Basic Concepts
n Scheduling Criteria
n Scheduling Algorithms
n Multiple-Processor Scheduling
n Real-Time Scheduling
n Algorithm Evaluation

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Basic Concepts
n Maximum CPU utilization obtained with
multiprogramming by making some process running at all
times.
n CPU Burst vs. I/O Burst – Process execution consists of a
cycle of CPU execution and I/O wait.
n CPU burst distribution

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Alternating Sequence of CPU And

I/O Bursts

IO Request

CPU Burst IO Burst

IO Complete

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Histogram of CPU-burst Times
n exponential or hyperexponential
n IO bound program – many very short CPU burst
eg.)
n CPU bound program – a few very long CPU burst

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CPU Scheduler
n Selects from among the processes in memory that are
ready to execute, and allocates the CPU to one of them.
n CPU scheduling decisions may take place when a process:
1. Switches from running to waiting state.
2. Switches from running to ready state.
3. Switches from waiting to ready.
4. Terminates.
n Scheduling under 1 and 4 is nonpreemptive. A new ready
process must be selected for execution.
n All other scheduling is preemptive.

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Nonpreemptive vs. Preemptive
n Nonpreemptive
u A process keeps the CPU until it release the CPU either by
terminating, or by switching to the waiting state.
u eg) MS Windows 3.1, Apple Macintosh
t limited by hardware support.
n Preemptive
u A process can be interrupted any time.
u Possible Inconsistency
t A process can be interrupted while it modifies some data, which other
process tries to modify or read.
t Frequent between a system call and a user process.
t A simple solution is to disallow to interrupt in a kernel mode.
t The solution is not adequate for real-time systems.

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Dispatcher
n Dispatcher module gives control of the CPU to the
process selected by the short-term scheduler; this
involves:
u switching context
u switching to user mode
u jumping to the proper location in the user program to
restart that program
n Dispatch latency – time it takes for the dispatcher
to stop one process and start another running.

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Scheduling Criteria
n CPU utilization – keep the CPU as busy as possible. A
reasonable range is from 40% to 90%.
n Throughput – # of processes that complete their execution
per time unit.
n Turnaround time – amount of time to execute a particular
process from submission to completion.
n Waiting time – amount of time a process has been waiting
in the ready queue.
n Response time – amount of time it takes from when a
request was submitted until the first response is produced,
not output (for time-sharing environment).

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Optimization Criteria
n What we want to
u Maximize CPU utilization
u Maximize throughput
u Minimize turnaround time
u Minimize waiting time
u Minimize response time
n In most cases
u optimize the average measure
n In the following, we will use the average waiting
time

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First-come, First-served (FCFS)
Scheduling
Process Burst Time
P1 24
P2 3
P3 3
n Suppose that the processes arrive in the order: P1 , P2 , P3
The Gantt Chart for the schedule is:

P1 P2 P3

0 24 27 30

n Waiting time for P1 = 0; P2 = 24; P3 = 27

n Average waiting time: (0 + 24 + 27)/3 = 17

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FCFS Scheduling (Cont.)

Suppose that the processes arrive in the order
P2 , p3 , p1 .
n The Gantt chart for the schedule is:

P2 P3 P1

0 3 6 30

n Waiting time for P1 = 6; P2 = 0; P3 = 3

n Average waiting time: (6 + 0 + 3)/3 = 3
n Much better than previous case.
n Convoy effect: short processes behind long process
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Shortest-Job-First (SJR)
Scheduling
n Associate with each process the length of its next CPU
burst. Use these lengths to schedule the process with the
shortest time.
n Two schemes:
u nonpreemptive – once CPU given to the process, it cannot be
preempted until completes its CPU burst.
u preemptive – if a new process arrives with CPU burst length less
than remaining time of current executing process, preempt.
n SJF is optimal – gives minimum average waiting time for a
given set of processes.

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Example of Non-Preemptive SJF

Process Arrival Time Burst Time
P1 0.0 7
P2 2.0 4
P3 4.0 1
P4 5.0 4
n SJF (non-preemptive)
P1 P3 P2 P4

0 3 7 8 12 16

n Average waiting time = (0 + 6 + 3 + 7)/4 = 4

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Example of Preemptive SJF
Process Arrival Time Burst Time
P1 0.0 7
P2 2.0 4
P3 4.0 1
P4 5.0 4
n SJF (preemptive)
t
P1
P2
P3
P4

n Average waiting time = (9 + 1 + 0 +2)/4 = 3

n Even the SJF is optimal, it cannot be implemented because
we cannot see future.
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Predicting Length of Next CPU

Burst
n Can only estimate the length.
n Can be done by using the length of previous CPU
bursts, using exponential averaging.

1. t n = actual length of nth CPU burst

2. τn+1 = predicted value for the next CPU burst
3. 0≤α≤1
4. Define:
τn+1 = α t n+ (1- α) τn

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Predicting Length of Next CPU Burst,
cont

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Examples of Exponential
Averaging
n α =0
u τn+1 = τn
u Recent history does not count.
n α =1
u τn+1 = tn
u Only the actual last CPU burst counts.
n If we expand the formula, we get:
τn+1 = α t n+(1 - α) α t n -1 + …
+(1 - α )j α t n -1 + …
+(1 - α )n=1 t n τ0
n Since both α and (1 - α) are less than or equal to 1, each
successive term has less weight than its predecessor.

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Implementation Consideration
n The coefficient of exponential average is a floating number
n The computation of floating number is burden in designing
a kernel.
n Even worse, many microprocessor used for real-time
operating systems do not have floating point unit (FPU).
n What we can do for that type of processors?

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Priority Scheduling
n A priority number (integer) is associated with each process
u UNIX: -20 (highest) to 19 (lowest), default is 10
u microC/OS-II: 0 (highest) to 63 (lowest)
n The CPU is allocated to the process with the highest
priority
u Preemptive
u nonpreemptive
n SJF is a priority scheduling where priority is the predicted
next CPU burst time.
n Starvation – low priority processes may never execute.
u Solution: Aging – as time progresses increase the priority of the
process.

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 Round Robin (RR)
n Each process gets a small unit of CPU time (time quantum
or time slice), usually 10-100 milliseconds. After this time
has elapsed, the process is preempted and added to the end
of the ready queue.
n If there are n processes in the ready queue and the time
quantum is q, then each process gets 1/n of the CPU time
in chunks of at most q time units at once. No process waits
more than (n-1)q time units.
n Performance
u q large ⇒ FIFO
u q small ⇒ q must be large with respect to context switch,
otherwise overhead is too high.

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Example of RR with Time Quantum =

4
Process Burst Time
P1 24
P2 3
P3 3
The Gantt chart is:

RR P1 P2 P3 P1 P1 P1 P1 P1

SJF P2 P3 P1 P1 P1 P1 P1 P1
n Average waiting time of RR = (6+4+7)/3=5.66
n Average waiting time of SJF = (6+0+3)/3=3
n The average waiting time of RR is often quite long.

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Time Quantum and Context Switch
Time

n The average turnaround of RR is longer than SJF

because CPU bursts of all processes interleave.
n But, better response.

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Turnaround Time Varies With The Time

Quantum

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Multilevel Queue
n Ready queue is partitioned into separate queues:
u foreground (interactive)
Is this true?
u background (batch)
n Each queue has its own scheduling algorithm,
u foreground – RR
u background – FCFS
n Scheduling must be done between the queues.
u Fixed priority scheduling; (i.e., serve all from foreground then
from background). Possibility of starvation.
u Time slice – each queue gets a certain amount of CPU time which
it can schedule amongst its processes; i.e.,
t 80% to foreground in RR
t 20% to background in FCFS

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Multilevel Queue Scheduling

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Multilevel Feedback Queue
Scheduling
n A process can move between the various queues
u If a process uses to much CPU time, it will be moved to a lower-
priority queue, but leaves IO-bound and interactive processes in
the higher priority queue.
u Aging can be implemented with the same way.
n Multilevel- feedback-queue scheduler defined by the
following parameters:
u number of queues
u scheduling algorithms for each queue
u method used to determine when to upgrade a process
u method used to determine when to demote a process
u method used to determine which queue a process will enter when
that process needs service

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Example of Multilevel Feedback

Queue
n Three queues:
u Q0 – time quantum 8 milliseconds
u Q1 – time quantum 16 milliseconds
u Q2 – FCFS
n Scheduling
u A new job enters queue Q0 which is served FCFS. When it gains
CPU, job receives 8 milliseconds. If it does not finish in 8
milliseconds, job is moved to queue Q1 .
u At Q1 job is again served FCFS and receives 16 additional
milliseconds. If it still does not complete, it is preempted and
moved to queue Q2 .

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Multilevel Feedback Queues

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Example, Scheduling
n For the given processes, answer the following question for
FCFS, SJF, RR(q=1), RR(q=4), 3Level Feedback(q=1),
and 3Level Feedback(q=1&2).
n What is the average waiting times for each scheduling?
n What is the turnaround time for each scheduling?

Prcess Name Arrival Time Processing Time

A 0 3
B 1 5
C 3 2
D 9 5
E 12 5

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Real-time Scheduling
n Hard real-time systems – required to complete a critical
task within a guaranteed amount of time
n Soft real-time computing – requires that critical processes
receive priority over less fortunate ones
n Priority inversion
u When a higher-priority process needs to access kernel data
currently being accessed by another lower-priority process. The
higher-priority process must wait for the lower-priority process to
finish
u Solution: priority inheritance scheme
all processes accessing resources that a higher-priority process
needs, inherit the high priority until they are done with the
resources. When they are completed the resource access, their
priority reverts to its original value
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Dispatch Latency

n The conflict phase consists of

Preemption of any process running in the kernel
Release by low-priority processes resources needed by the high-priority
process.
n If the preemption is not allowed, the dispatch latency is quite long, so
most of real-time OS’s support preemption.
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Rate Monotonic Scheduling
(RMS)
n In an RT system, how can we assign priorities to
critical tasks?
n Rate monotonic scheduling
u Task priorities are assigned based on how often tasks
executes
u Tasks with the highest rate of execution are given the
highest priority
u Assumption
t All tasks are periodic
t Tasks do not synchronize with one another, share resouces, or
exchange data
t OS supports preemption

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RMS Theorem
n Given n tasks, all task hard real-time deadlines are
always met if the inequality hold.
Ei
∑T ≤ n(21/ n − 1)
i

where Ei is the maximum execution time of task i, and Ti is

the execution period of task i. Note that Ei is always smaller
than Ti and Ei/Ti corresponds to the fraction of CPU time
required to execute task i.
eg) 2(21/2 -1)=0.828, 100(21/100-1)=0.695
If the system has 100 tasks, the total CPU utilization must be
less than 69.5% to meet the real-time deadline.

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n (21/n-1)
1.2

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35

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Example, RMS
n Consider three periodic tasks,
Task P1: E1=40, T1=150,
Task P2: E2=100, T2=350, and
Task P3: E3=20, T3=100
n What priorities will you assign to each task from 1
to 3? (The smaller number, the higher priority)
n Can the tasks be scheduled in real-time?

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