I have no experience of this what so ever but as you ask for help, I think if I had this problem on our van I would cut the rot out with a multitool, and treat any surrounding sound timber with a wood treatment to prevent further rot and then bond and screw ply over the places you cut out. Finish it with wood preservative or maybe underseal or something and see how you go on with that.
I suppose also I would be wondering why the floor is rotting on both sides in the same place on a van that's 17 years old, if the original timber was treated and protected properly surely it should still be ok? The only reason I think this is our old van is 31 years old and all the underside floor is still looking really good.
Anyway good luck with it.