This paper presents a new adaptive sliding mode controller for MEMS gyroscope; an adaptive trackingcontroller with a proportional and integral sliding surface is proposed. The adaptive sliding mode controlalgorithm can estimate the angular velocity and the damping and stiffness coefficients in real time. Aproportional and integral sliding surface, instead of a conventional sliding surface is adopted. An adaptivesliding mode controller that incorporates both matched and unmatched uncertainties and disturbancesis derived and the stability of the closed-loop system is established. The numerical simulation ispresented to verify the effectiveness of the proposed control scheme. It is shown that the proposedadaptive sliding mode control scheme offers several advantages such as the consistent estimation ofgyroscope parameters including angular velocity and large robustness to parameter variations andexternal disturbances.