In this paper the objective is to force the outputs of nonlinear nonaffine multi-input multi-output (MIMO) systems to track those of a linear system with the desired properties. The approach is based on designing higher order sliding mode controller (HOSMC) with the definition of a new proportional-integral (PI) sliding surface. To this end. a linear state feedback with an adaptive sw... https://www.roneverhart.com/Sheepshead-Bay-Boats-2-Brooklyn-NY/