  Control systems over networks with a finite data rate can be conveniently
modeled as hybrid (impulsive) systems. For the class of nonlinear systems in
feedfoward form, we design a hybrid controller which guarantees stability, in
spite of the measurement noise due to the quantization, and of an arbitrarily
large delay which affects the communication channel. The rate at which feedback
packets are transmitted from the sensors to the actuators is shown to be
arbitrarily close to the infimal one.
