Abstract: In this study, the stability analysis of the PID-like adaptive fuzzy Sliding Model Controller (SMC) for a class of nonlinear uncertain MIMO systems is presented. The upper bounds of structured uncertainties and external disturbance are not needed to be known and approximated by a fuzzy inference system. To overcome the chattering problem in the conventional SMC scheme, an adaptive Proportional Integral Derivative (PID) controller is designed to replace the switching part of the SMC scheme. The approximation and estimation errors are also assumed to be unknown and estimated online by using adaptive laws. The global stability and robustness of the closed-loop system is ensured by the derivation of the stability criterion based upon Lyapunov’s direct method. Finally, numerical simulations for an two-link rigid robot under different controllers are provided and the results show that the proposed approach achieves satisfactory performance from the viewpoint of chattering removement and tracking accuracy.