We introduce a new stabilization for discontinuous Galerkin methods for the Poisson problem on polygonal meshes, which induces optimal convergence rates in the polynomial approximation degree $p$. In the setting of [S. Bertoluzza and D. Prada, A polygonal discontinuous Galerkin method with minus one stabilization, ESAIM Math. Mod. Numer. Anal. (DOI: 10.1051/m2an/2020059)], the stabilization is obtained by penalizing, in each mesh element $K$, a residual in the norm of the dual of $H^1(K)$. This negative norm is algebraically realized via the introduction of new auxiliary spaces. We carry out a $p$-explicit stability and error analysis, proving $p$-robustness of the overall method. The theoretical findings are demonstrated in a series of numerical experiments.
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