@article{Esterhuizen_2026,
  title={{Nonlinear Controlled Port-Hamiltonian Systems: Existence of (Optimal) Solutions}},
  volume={64},
  ISSN={1095-7138},
  DOI={10.1137/24m1705093},
  number={4},
  journal={SIAM Journal on Control and Optimization},
  publisher={Society for Industrial & Applied Mathematics (SIAM)},
  author={Esterhuizen, Willem and Maschke, Bernhard and Preuster, Till and Schaller, Manuel and Worthmann, Karl},
  year={2026},
  pages={2569--2592}
}