In modular systems, course scheduling concerns the high-level control of the communication between the modules and the task scheduler. If the internal triggers of modules can be controlled, then these must be scheduled as well. This must be accomplished by the module itself, but the module may involve a task scheduler. Thus scheduling is a way of prescribing state transitions and specifying relations that are used in a communication.
Each system mode corresponds to a scheduling plan and to a connection scheme. This can be accomplished by making the corresponding connection scheme a property of the scheduling plan. In this way, multiple scheduling plans can use the same connection scheme.