  This article presents tractable and recursively feasible optimization-based
controllers for stochastic linear systems with bounded controls. The stochastic
noise in the plant is assumed to be additive, zero mean and fourth moment
bounded, and the control values transmitted over an erasure channel. Three
different transmission protocols are proposed having different requirements on
the storage and computational facilities available at the actuator. We optimize
a suitable stochastic cost function accounting for the effects of both the
stochastic noise and the packet dropouts over affine saturated disturbance
feedback policies. The proposed controllers ensure mean square boundedness of
the states in closed-loop for all positive values of control bounds and any
non-zero probability of successful transmission over a noisy control channel.
