On anytime control of nonlinear processes through calculation of control sequences

We present two related algorithms to calculate the control input when the processing resources available are time-varying. The basic idea is to calculate the control input for as many time steps into the future as allowed by the available processing resources at every time step. We analyze the stability of the resulting closed loop system using stochastic Lyapunov functions. For the LQG case, we provide explicit analytical performance and stability expressions. For more general cases, we indicate through numerical simulations that the increase in performance due to the proposed algorithm can be significant.