I. Introduction
The purpose of suspension-based real-time locking protocols is to limit priority inversions [22], which, intuitively, occur when a high-priority task that should be scheduled is instead delayed by a remote or lower-priority task. Such locking-related delay, also called priority inversion blocking (pi-blocking), is problematic because it can result in deadline misses. However, some pi-blocking is unavoidable when using locks and thus must be bounded and accounted for during schedulability analysis.