Abstract: This paper builds a new task model for hard real-time Internet of Things systems with feedback tasks and non-feedback tasks and presents a new response time analysis method.This task model describes the characteristics of tasks in detail,such as their structures,interaction modes and running manner.The new schedulability analysis method can verify whether real-time requirements are met.Experimental results show the tasks in HCTS have lower average worst-case response time.However,it has some negative influence on the schedulability of tasks in the case of more feedback loops,which provides support for the optimization of HCTS.