Actually I found perfect solution for that. It requires upstart so is far more easier than standard services, runit and systemd.

Here is more detailed instruction:
http://blog.arkency.com/2014/06/create-run-and-manage-your-background-processes-with-upstart/

And it is something like:

In /etc/init/my_program_upstart_script.conf:

start on my_event

respawn

exec /home/my_user/my_program/my_program_executable

Yes, so simple!

Just run the program with sudo initctl emit my_event.