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MR1164548 93B36 (58F40 93C10 93D15) van der Schaft, A. J. $L_2$$L_2$-gain analysis of nonlinear systems and nonlinear state feedback $H_\infty$$H_\infty$ control. IEEE Trans. Automat. Control 37 (1992), no. 6, 770–784.

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