A pH-structured neural controller is proven to have a finite L2 gain for all parameters, but the claimed finite incremental L2 gain is not proven and fails in simple cases.
Learning to boost the performance of stable nonlinear systems,
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Neural Port-Hamiltonian Models for Nonlinear Distributed Control: An Unconstrained Parametrization Approach
A pH-structured neural controller is proven to have a finite L2 gain for all parameters, but the claimed finite incremental L2 gain is not proven and fails in simple cases.