On mean-square boundedness of stochastic linear systems with quantized   observations
  We propose a procedure to design a state-quantizer with finitely many bins for a marginally stable stochastic linear system evolving in $\R^d$, and a bounded policy based on the resulting quantized state measurements to ensure bounded second moment in closed-loop. 
Debasish Chatterjee, Peter Hokayem, Federico Ramponi, and John Lygeros
math.OC cs.SY