I've put together an upstart script for memcached based on the init.d script it ships with, as I couldn't find any examples anywhere. The problem is it's not respawning automatically when I kill the process.
env DAEMON=/usr/bin/memcached
env DAEMONBOOTSTRAP=/usr/share/memcached/scripts/start-memcached
start on started
stop on runlevel [!2345]
respawn
post-stop script
start-stop-daemon --stop --pidfile /var/run/memcached.pid --name memcached --chuid nobody --user nobody --exec $DAEMON --signal TERM
end script
exec start-stop-daemon --start --quiet --exec $DAEMONBOOTSTRAP