In this paper we address the Prescribed Performance Control problem for uncertain MIMO systems, through output feedback. In order to do so, we exploit the feedback passivation approach according to which a system is rendered passive with the use of an output feedback control law. Using a two phase controller design procedure we guarantee convergence of the output tracking error to a predefined arbitrarily small residual set, with rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small constant. Moreover, all other signals in the closed loop are kept bounded. To avoid possible division by zero, the output feedback passivation controller is of switching type.