This paper presents a new technique for almost sure asymptotic state tracking, stability and reference tracking of nonlinear dynamic systems by remote controller over the packet erasure channel, which is an abstract model for transmission via WiFi and the Internet. By implementing a suitable linearization method, a proper encoder and decoder are presented for tracking the state trajectory of nonlinear systems at the end of communication link when the measurements are sent through the packet erasure channel. Then, a controller for reference tracking of the system is designed. In the proposed technique linearization is applied when the error between the states and an estimate of these states at the decoder increases. It is shown that the proposed technique results in almost sure asymptotic reference tracking (and hence stability) over the packet erasure channel. The satisfactory performance of the proposed state trajectory and reference tracking technique is illustrated by computer simulations by applying this technique on the unicycle model, which represents the dynamic of autonomous vehicles. (C) 2018 Elsevier Ltd. All rights reserved.