Remote Tracking via Encoded Information for Nonlinear Systems
  The problem addressed in this paper is to control a plant so as to have its output tracking (a family of) reference commands generated at a remote location and transmitted through a communication channel of finite capacity. The uncertainty due to the presence of the communication channel is counteracted by a suitable choice of the parameters of the regulator. 
Alberto Isidori, Lorenzo Marconi, Claudio De Persis