Here the three options:
An anomaly prevention approach for real-time task scheduling, Ya-Shu Chen, Li-Pin Chang, Tei-Wei Kuo, Aloysius K. Mok http://ntur.lib.ntu.edu.tw/bitstream/246246/154693/1/32.pdf
Exact schedulability tests for real-time scheduling of periodic tasks on unrelated multiprocessor platforms Liliana Cucu-Grosjean, Joël Goossens http://www.google.com/url?sa=t&rct=j&q=exact%20schedulability%20test...
An Optimal Real-Time Scheduling Algorithm for Multiprocessors Hyeonjoong Cho, Binoy Ravindran, E. Douglas Jensen http://origin-www.computer.org/csdl/proceedings/rtss/2006/2761/00/27610101.p...