  Boundary feedback stabilisation of linear port-Hamiltonian systems on an
interval is considered. Generation and stability results already known for
linear feedback are extended to nonlinear dissipative feedback, both to static
feedback control and dynamic control via an (exponentially stabilising)
nonlinear controller. A design method for nonlinear controllers of linear
port-Hamiltonian systems is introduced. As a special case the Euler-Bernoulli
beam is considered.
