This model shows two (independent) control loops whose controllers share the same CPU.
The control loops are chosen such that it is unstable if the control signals are constantly
delayed. By choosing different priority assignments and scheduling policies, different stability
of the two loops may appear. For example, a nonpreemptive scheduling can stabilize both
control loops, but none of the preemptive ones can.
The same demo exists in the TM domain with TM scheduling policies.