When master is down, can the time of switching backup to master be shorter than 
a second?

The following is the switching time about keepalived. Can Heartbeat be more 
excellent?

No, it can't be shorter than 1 second. This is a VRRP protocol limitation. Most 
enterprise-class VRRP implementation are using a BFD protocol to achieve 
sub-second fault detection time. I've created proof-of-concept BFD subsystem 
for keepalived some time ago - https://github.com/ivoronin/keepalived/tree/bfd 
. Unfortunately it is not well tested and not suitable for production use.

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