We study the problem of controlling a general class of nonlinear systems through a memoryless channel with constant delay. The remote controller receives the delayed measurements from the controlled plant and transmits back to the plant a control law, designed according to a certainty equivalence strategy. The closed-loop system trajectories are convergent to zero in probability and square integrable, despite the presence of uncertainties and square integrable noise. (C) 2007 Elsevier Ltd. All rights reserved.