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This paper presents taxonomical classification of pervasive computing system that allows characterizing the system and helps to identify most defining performance parameters for evaluation. Tremendous efforts have been put in the related research, but there is no standard or commonly accepted model to benchmark systems and to identify direction for future research. We survey various systems published in the literature and identify their distinctive features to construct a classification scheme, and the outcome is the taxonomy of pervasive computing systems that allows us to devise strategy on how to evaluate a wide variety of these systems.