Finite L 2-gain with nondifferentiable storage functions

We consider affine control systems with the finite L₂-gain property in the case the storage function is nondifferentiable. We generalize some classical results concerning the connection of the finite L₂-gain property with the stability properties of the unforced system, the characterization of finite L₂-gain by means of partial differential inequalities of the Hamilton-Jacobi type and the problem of giving to a system the finite L₂-gain property by means of a feedback law. Moreover, we introduce and study the apparently new notion of exact storage function.