Stabilization and tracking control for an extended Heisenberg system with a drift

In this paper, we present sliding mode control algorithms, that are designed to practically stabilize (which means that the system state is stabilized to an ɛ neighborhood of the origin) the perturbed multidimensional Heisenberg system (therefore, with a drift) with additional two multidimensional integrators in the control inputs path. This result is then used to solve a tracking problem for the class of system which unperturbed model fails Brockett's necessary condition for the existence of a continuous, time independent feedback law.