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There are many different tools available to measure the realtime performance of a system.
The cyclictest is the simplest and most usefull benchmark.
Standard tool to measure the maximum jitter of a system.
The following things can influence the real-time behaviour:
At first, test the most basic system possible. With this test, you can get a baseline of the best possible real-time performance of the hardware. Every feature added will make the system more complex and add more stuff, which can increase jitter.
With this approach you can get a feeling which performance is possible and which part of the system is responsible for a high jitter.