Control of MEMS vibratory gyros and angular rate estimation form the challenging problem which is the focus of this paper. To this end, the model-based and non-model-based sliding model control (SMC) approaches are presented, and a chattering elimination method called regulated SMC (RSMC) is invoked to improve tracking control of the drive and sense modes of the uncertain vibratory gyroscope. The force-balancing method is employed to estimate the unknown rotation rate and quadrature error term using two desired trajectories for conventional mode with the same amplitude and different frequencies. Finally, effectiveness of the regulated model-based and non-model-based SMC scheme even in the presence of significant uncertainties is demonstrated through simulations.