Well, there's nothing like answering your own question.

In short, I came across 3 books that helped me understand the issues of multitasking and multiprocessing. The first I recommend "System Design with Ada" (1984) by Raymond J. A. Buhr. In chapter 3, the author shows step by step what to pay attention to when analyzing a problem in order to arrive at the right structure of tasks (processes). As the title indicates, Buhr uses the Ada language to model the problem and implement solutions. The author has also written a book in which he uses C/C++ : "An Introduction To Real-Time Systems: From Design To Multitasking With C/C++".

The third book that helped me understand analysis and multitasking design is a book by David L. Ripps' 1989 "An Implementation Guide To Real-Time Programming". In particular, chapter 4 focuses on the aforementioned issues.

System Design with Ada, R.J.A Buhr, 1984

https://archive.org/details/systemdesignwith0000buhr/page/46/mode/2up

An Introduction To Real-Time Systems: From Design To Multitasking With C/C++, R.J.A Buhr, 1998

https://archive.org/details/introductiontore0000buhr/page/54/mode/2up

An Implementation Guide To Real-Time Programming, David L. Ripps, 1989

https://archive.org/details/implementationgu0000ripp/page/40/mode/2up