This paper proposes a dynamic output feedback variable structure controller for linear MIMO systems with mismatched and matched normbounded uncertainties and matched nonlinear disturbances. The proposed controller consists of nonlinear and linear parts, similar to the unit vector type of controller. The nonlinear part of the new controller takes care only of matched uncertainties and disturbances and, on the other hand, the linear part with full dynamics completely handles mismatched uncertainties. Designing such a linear part leads to use a Lyapunov function associated with the full states, which achieves the global stability against the mismatched uncertainties. The resulting criteria are, furthermore, convened into solvable ones, by using the so-called cone complementary linearization algorithm for bi-convex problems. (c) 2006 Elsevier Ltd. All rights reserved.