In this paper, the authors extend U-Link Scheduling to increase the average execution efficiency of the system. They first define the execution efficiency. Then they propose a new algorithm that establishes the co-scheduled sets where the execution efficiency can be increased. Also they present the static estimation of the execution time and provide the schedulability analysis for the extended U-Link Scheduling. In the experiments, they evaluate the advancement of the extended U-Link Scheduling from the viewpoint of the execution efficiency and real-time processing.