Background The paper presents issues related to Filtered Integral Sliding Mode Control for a two-mass system drive. A comparison between common classical and filtered Integral Sliding Mode Control is carried out. The proposed method based on adaptive fuzzy filter improves the original structure by significantly decreasing chattering and torsional vibrations level. The comparison is conducted on the basis of simulation and experimental findings. Material and methods The simulations were conducted by means of Matlab/Simulink 2013a. The experimental set comprised of two DC 500W motors coupled together by the elastic shaft. The control unit is dSpace 1103 card connected to the PC. Results Both, simulation and experiment, were conducted in order to examine the influence of the bandwidth of the output filter on the whole structure. Few cases were checked - the structure without the output filter, the one with the output filter with constant badwidth (three values) and the last one with the tuneable bandwidth of the output filter. Conclusions Regulation of the bandwidth of the output filter in sliding mode control structures allows to significantly soften the chattering effect and the torsional vibrations. Static states require as low as possible bandwidth while the dynamic states require bigger bandwidth.