The problem of the stabilisation of a nonlinear system via output-feedback dynamic control is addressed, under the assumption that every communication between the plant and the controller is subject to network-induced constraints. These constraints include variable transfer intervals; time varying, large communication delays; non-simultaneous access to the network. A control technique that copes with these constraints is presented which is based on recent results addressing the problem of static state-feedback. The stability of the resulting nonlinear networked control system is assessed. Network-in-the-loop experiment results are presented, which confirm that the proposed method is effective