Anytime Control using Input Sequences with Markovian Processor   Availability
  We study an anytime control algorithm for situations where the processing resources available for control are time-varying in an a priori unknown fashion. Thus, at times, processing resources are insufficient to calculate control inputs. To address this issue, the algorithm calculates sequences of tentative future control inputs whenever possible, which are then buffered for possible future use. We assume that the processor availability is correlated so that the number of control inputs calculated at any time step is described by a Markov chain. Using a Lyapunov function based approach we derive sufficient conditions for stochastic stability of the closed loop. 
Daniel E. Quevedo, Wann-Jiun Ma, Vijay Gupta
math.OC cs.SY