and , “High-Order Sliding-Mode control for MIMO Systems,” International Journal of Robust and Nonlinear Control (2026): 1–22, https://doi.org/10.1002/rnc.70637. 1 Introduction Mathematical models provide a powerful framework for describing physical systems. Nevertheless, they cannot capture all phenomena occurring in real-world processes, which are inevitably affected by uncertainties and disturbances-including modeling errors, parameter variations, and environmental changes [1].