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We use the adaptive mechanism to adjust the uncertain parameters in sliding mode control law which can be switched to two modes depending on the sliding surface. By choosing appropriately the parameters in control law, the desired transient time can be obtained without effects of uncertain parameters and additive disturbances. The chattering phenomenon can be minimized by a chosen constant. This control method is applied to the angles tracking control of the Twin Rotor Multi-Input Multi-Output system (TRMIMOS) which have nonlinear characteristics, the input torque disturbances and the coupling between the horizontal and vertical movements. 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