In brief the synchronization problem for nonlinear systems under communication constraints and bounded exogenous disturbances is analyzed. The main contribution is in the evaluation of the synchronization error as a function of transmission rate and the upper bounds of the disturbances. Relevance of passifiability condition for controlled synchronization of master-slave nonlinear systems for first order coder/decoder pair is demonstrated. Experimental results obtained at three-computer setup, illustrating the theory are presented. (C) 2015 Elsevier Ltd. All rights reserved.