In this paper we consider the problem of robust semiglobal stabilization and/or semiglobal practical stabilization of minimum-phase input-output linearizable systems, The results of this paper significantly extend the recent work of Teel and Praly on SISO (single-input/single-output) minimum-phase systems in several directions. Among these directions are the development of MIMO (multi-input/multi-output) theory and the relaxation of the restriction on the interaction between nonlinear zero dynamics and the state of the linearizable part of the system.