1. A method of allocating a plurality of tasks in a task set among a plurality of processors comprising steps of: (a) calculating a density by taking a ratio of worst case execution time and a deadline for one of the plurality of tasks; (b) calculating a harmonicity of the one the plurality of tasks with respect to the task set; (c) repeating steps (a) and (b) for all of the plurality of tasks in the task set; and, (d) allocating the plurality of tasks among the plurality of processors based on one of minimum density and maximum harmonicity dependent on which allocation results in a lower clock frequency.