Abstract In this article an adaptive discontinuous dynamical feedback strategy is presented for asymptotic output stabilization problems defined on nonlinear controlled systems exhibiting linear parametric uncertainty. A dynamical feedback controller, ideally achieving output stabilization via exact linearization, is obtained by means of output differentiation and sliding mode control ideas. The adaptive version of the dynamical variable structure controller is then obtainable via standard, direct, overparametrized adaptive control techniques available for linearizable systems through static state feedback. An illustrative example from the chemical process control area, including simulations, is provided.