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In this paper, attempts are made to design a novel time-varying switching surface in sliding mode control which enables us to synchronize two fractional chaotic systems precisely at any arbitrary pre-specified time. For both Caputo (C) and Riemann-Liuville (RL) derivatives, control laws based on Lyapunov stability theorem are derived. The proposed method is completely robust against existence of uncertainties and exogenous disturbances due to eliminating the reaching phase. Since the sign function is replaced by fractional RL integral of the sign function, the chattering is removed. The simulation results in different scenarios are reported to show the effectiveness of the proposed method.