thank you I found these commands in the documentation 5.5, it is also present in your documentation (page 14)
Perhaps you got a different edition, but I do not find the phrase verify_servername in this manual, neither on page 14, nor anywhere else.
You could, of course, try an older version of CentOS, but as I wrote: It will probably work in 6.3 as well. Provided, of course, you follow all the directives printed in the manual. I didn't try 6.3 yet, but had it working in 6.2 32-bit and 64-bit.
BTW: Latest SV-RAID version is 5.5.12.
Oh, and don't forget any firewalls that might be present in your CentOS (or in between your CentOS and the ESXi management interface)! Port 5989 needs to be opened.
In case you have another box that runs your CentOS natively (and uses an SV-RAID supported controller), you may also try and install SV-RAID there. Once you got it up and running properly to monitor the local controller, you have at least a known-good installation, to which you then can try and add the ESXi host.
Another sidenote: This ESXi host must not be configured to lockdown mode, of course.
Good luck!