Cyclictest

RT-tests is a collection of programs that test the real-time capabilities of Linux. Cyclictest is one of the programs in the RT-tests suite that most commonly used for benchmarking RT systems. It is one of the most frequently used tools for evaluating the relative performance of real-time systems.

For details, refer to this link.

git clone git://git.kernel.org/pub/scm/linux/kernel/git/clrkwllms/rt-tests.git
git checkout -b stable/v1.0

Or

wget https://mirrors.edge.kernel.org/pub/linux/utils/rt-tests/rt-tests-1.10.tar.gz
make all
sudo make install