@article {GFB11,
	title = {Design and Stability Analysis for Anytime Control via Stochastic Scheduling},
	journal = {IEEE Trans. on Automat. Contr.},
	volume = {56},
	number = {3},
	year = {2011},
	pages = {571 - 585},
	keywords = {Embedded Control, Robotics},
	author = {L. Greco and D. Fontanelli and A. Bicchi}
}
