Shared-channel communication networks, e.g., a wireless local area network, are susceptible to congestion that can adversely affect performance and stability of systems operating over a network due to packet loss and time-delays. In addition to poor network service quality, congestion can result in partial or complete network collapse. The detrimental effects of congestion on a network and the systems operating over the network can be mitigated by designing a controller to reduce the reliance of systems on the network by reducing channel utilization. In this chapter, a context-aware communication policy that stabilizes a class of nonlinear networked control systems (NCS) operating over a bandwidth-limited shared-channel is developed to reduce channel utilization. The NCS under consideration is also assumed to be affected by an unmodeled, nonlinear, exogenous disturbance. The control objective is to stabilize a nonlinear NCS in the presence of uncertainties while minimizing the network usage. The informational value of the output states can be analyzed in the context of system stability using model-based approaches. When fused with event-based triggering, the context-aware communication policy results in aperiodic feedback signals that guarantee uniformly ultimately bounded tracking of output states of an uncertain perturbed system along the desired time-varying trajectory. The proposed NCS is validated using simulations for nonlinear scalar and coupled MIMO systems.