Kill switch on agents for disconnect handling

[uri]

I'm currently has a task that activates process on the agent's machines and the process keep living after the task complete. I can create another task that will kill the living process, but if one of the agents will disconnect from the ePO network after the "start process" task, the process will live on forever on the agent machine (or at least until shut down of the machine).
Is there a way to assign a task that will execute on the disconnect of an agent? Or handle\indicate agent disconnection in any other way?

ePO details - 

          Description ePO Build: ePolicy Orchestrator 5.3.2 (Build 156)

          Server: ePO-Server

Thanks!!

[Nielsb]

There was a bug in an older version of ePO and tasks in progress.

Your ePO version 5.3.2 is old and out of support. You can start with a upgrade of your ePO console to ePO 5.9.1 or 5.10

ePO versions and upgrade path:

https://kc.mcafee.com/corporate/index?page=content&id=KB86693

[uri]

I can not upgrade my ePO (Company demands..), but do you have an answer to my question with my current ePO?