A novel adaptive time-delayed control method is proposed for stabilizing inherent unstable periodic orbits (UPOs) in chaotic systems with unknown parameters. We rst explore the inherent properties of chaotic systems and use the system state and time-delayed system state to form an asymptotically stable invariant manifold so that when the system state enters the manifold and stays in it thereafter, the resulting motion enables the stabilization of the desired UPOs. We then use the model following concept to construct an identier for the estimation of the uncertain system parameters. We shall prove that under the developed scheme, the system parameter estimates will converge to their true values. The e ectiveness of the method is conrmed by computer simulations.