Global asymptotic and finite-gain L2 stabilisation of port-controlled Hamiltonian systems subject to actuator saturation

The stabilisation problem for a port-controlled Hamiltonian system subject to actuator saturation and input additive external disturbances is studied. Conditions are identified under which a static output feedback law would achieve global asymptotic stabilisation. Under some additional growth conditions on the nonlinear functions involved in the system, the same feedback law would also achieve finite gain L2 stabilisation. In establishing these results, an estimate of the finite gain is also obtained.