  In this paper, we are concerned with the stabilization of linear
port-Hamiltonian systems of arbitrary order $N \in \mathbb{N}$ on a bounded
$1$-dimensional spatial domain $(a,b)$. In order to achieve stabilization, we
couple the system to a dynamic boundary controller, that is, a controller that
acts on the system only via the boundary points $a,b$ of the spatial domain. We
use a nonlinear controller in order to capture the nonlinear behavior that
realistic actuators often exhibit and, moreover, we allow the output of the
controller to be corrupted by actuator disturbances before it is fed back into
the system. What we show here is that the resulting nonlinear closed-loop
system is input-to-state stable w.r.t.~square-integrable disturbance inputs. In
particular, we obtain uniform input-to-state stability for systems of order
$N=1$ and a special class of nonlinear controllers, and weak input-to-state
stability for systems of arbitrary order $N \in \mathbb{N}$ and a more general
class of nonlinear controllers. Also, in both cases, we obtain convergence to
$0$ of all solutions as $t \to \infty$. Applications are given to vibrating
strings and beams.
