This article presents a novel sliding plane control approach by using differential geometry applied to multi-input multi-output coupled nonlinear systems. The design methodology is based on the decoupling of the output signals, which are controlled as independent loops. Smooth functions are used for the switching control signal to decrease the chattering in the outputs. Experimental results are validated over a simulated stirred tank where the robustness of the proposed control method to disturbances is observed. Besides, the