## 1 Introduction
### Related Works  
For controlling MIMO systems with disturbances and uncertainties, several control techniques were examined in the literature. In Reference [23], a decoupling control is proposed based on the decoupler matrix and the improved active disturbance rejection control. In Reference [24], robust tracking control of the MIMO system is presented and the second order sliding mode control (SMC) is used to establish the desired tracking. In Reference [25], a Lyapunov model-reference adaptive control for MIMO linear systems is designed for minimum phase systems with relative degree one. In Reference [26], the problem of almost disturbance decoupling is discussed for a class of MIMO nonlinear systems with external time-varying disturbances. In Reference [27], MIMO controllers are designed, which maximize the maximum amplitude of the sinusoidal input, for which the corresponding periodic solutions are guaranteed to be stable. In Reference [28], adaptive output feedback control is designed for MIMO systems under the framework of multirate sampled data control. In Reference [29], systematic synthesis of a fully reliable or partially reliable decentralized MIMO Proportional-Integral-Derivative (PID) controller is designed to achieve closed-loop stability. In Reference [30], adaptive tracking control is designed for uncertain MIMO nonlinear systems with non-symmetric input constraints. In Reference [31], derivative-integral terminal SMC is proposed for robust output tracking of uncertain MIMO systems. In Reference [32], a novel control strategy is developed for the trajectory tracking control of MIMO systems with hard constraints and uncertainties. In Reference [33], adaptive control scheme is investigated with unknown parameters and is developed for MIMO nonlinear time delay systems. In Reference [34], equivalent control-based SMC for MIMO uncertain linear Markovian jump systems is designed, which guarantees the system's stochastically asymptotical stability. In Reference [35], adaptive control using multiple models with second level adaptation is designed for MIMO coupled systems. In Reference [36], a robust output regulation is proposed for invertible nonlinear MIMO systems based on the nonlinear internal model. In Reference [37], a full-order terminal SMC is designed for MIMO systems with unmatched uncertainties. In Reference [38], a tracking control problem of a class of MIMO nonlinear systems under asymmetric full-state constraints is proposed using dynamic surface control. In Reference [39], adaptive disturbance rejection tracking control is proposed with the asymptotically converging output tracking errors for MIMO nonlinear Euler-Lagrange systems, with unknown time-varying disturbances under input saturation. Authors in Reference [40] proposed a robust sliding mode controller of uncertain MIMO nonlinear systems with external disturbance rejection capabilities. The work in Reference [41] offered a novel sliding mode disturbance observer (SMDO) with finite-time convergence. Authors in Reference [42] constructed an output feedback sliding mode controller for MIMO systems of any relative degree. Moreover, the new high order sliding mode (HOSM) control algorithm is concluded in Reference [43], which guarantees finite-time stabilization of the linear MIMO system and rejects bounded matched and \"vanishing\" unmatched disturbances of a particular type. Authors in Reference [44] proposed a MIMO nonlinear anti-disturbance compensator based on the linear extended state observer (LESO) for an unmanned aerial vehicle with exogenous disturbances and uncertainties. Authors in Reference [45] demonstrated an extended high-grain observer as a disturbance estimator in combination with a dynamic inversion technique with an application on nonlinear MIMO systems. In Reference [46], a fuzzy adaptive control approach, based on a new kind of fuzzy adaptive observer, is designed for nonlinear MIMO systems.