Abstract: A hybrid control system executes tasks within a transaction which is executed in a given order. The order in which the tasks are executed is inversely proportional to their deadlines. The deadlines are assigned an initial deadline D, an initial maximum end-to-end delay of the transaction is calculated using the initial deadlines D and the given order of the tasks.The deadline of the task with the largest deadline is reduced by an increment to give a new deadline and if the task following it has an increment to give a new deadline. A new end-to-end delay is calculated using the new deadlines and the given order of the tasks. These steps are repeated until the new end-to-end delay does not exceed the desired maximum end-to-end delay.