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Control systems over networks with a finite data rate can be convenientlymodeled as hybrid (impulsive) systems. For the class of nonlinear systems infeedfoward form, we design a hybrid controller which guarantees stability, inspite of the measurement noise due to the quantization, and of an arbitrarilylarge delay which affects the communication channel. The rate at which feedbackpackets are transmitted from the sensors to the actuators is shown to bearbitrarily close to the infimal one.

Minimal data rate stabilization of nonlinear systems over networks with large delays