[0] https://www.google.com/search?q=hard-realtime+soft-realtime
> A hard-real time system is a system in which a failure to meet even a single deadline may lead to complete or appalling system failure. A soft real-time system is a system in which one or more failures to meet the deadline are not considered complete system failure, but that performance is considered to be degraded.
Technically not relevant but I know that a lot of early handhelds that repurposed RTOS for GUI felt slow, jumpy and unresponsive, perhaps because everything was polled? In that sense RTOS can be slow.
In the context I'm working with (1000Hz hard real-time), the software has to be "performant" (running algorithms like collision detection) in a deterministic manner as each loop iterate has less than 800us of time. When developing such a system, the developer needs to accurately know the performance characteristic of the software ahead of time.
In another system, fast might mean 5ms, which is unacceptably slow in the context above.