: Real systems are inherently nonlinear and systems model have uncertainties. Sliding mode control with its special properties and robustness against uncertainties is an appropriate method for designing a stable controller for nonlinear systems, moreover adaptive control known as an efficient online way to deal with uncertainties. The main problem in the design of sliding mode controller is chattering. To overcome the chattering problem in sliding mode controller, different methods have provided. Integral sliding mode control can effectively improve chattering. So in order to overcome chattering phenomena and increase convergence speed, the adaptive integral sliding mode control is used for controller design. On the other hand, the occurrence of faults in control systems is inevitable that not only reduces system performance, but also it may cause instability in system. Therefore design of a controller which can be stable in the condition that fault occurred not only make it applicable in wider range, but also it looks necessary in systems like aerial systems, nuclear and … in which safety and security are very important. So adaptive sliding mode control is firstly designed for system without fault, and then it is extended to Multi Input-Multi Output (MIMO) system with fault. For all the controllers being designed, the system stability and the tracking error convergence to an acceptable small value is proved. For the proposed method simulation is done and the results of simulation validate the effectiveness of proposed method. Key words: Sliding mode control, Adaptive control, Fault tolerant control systems, Integral sliding mode