Discussion
A control task must run every 1 ms with less than 50 \( \mu \)s of jitter. Deriving its period from a 1 ms kernel tick is
Answer: D
The task is released when the tick handler runs, and anything ahead of it in priority delays it by an unpredictable amount. A dedicated hardware timer interrupt driving the loop directly, with the kernel used for everything else, is the usual answer.
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