Tracking problem of uncertain nonminimum phase system using sliding mode control is solved in two steps. The first step involves structural decomposition of a system via two invertible transformations to bring the system into special coordinate basis. In the second step, sliding mode control is applied to stabilize the mismatch dynamic of the system without experiencing the overshoot in response, while keeping the speed of response faster in presence of matched disturbance. © 2013 IFAC.