We have designed and constructed a synchronized fiber laser system in the all-optical and passive way, which enables to deliver dual-color ultrafast pulses with long-term stability and high timing precision. This synchronization system consisting of two Er- and Yb-doped fiber lasers mode-locked by nonlinear amplifying loop mirrors adopts a master-slave configuration. The injection pulse induces a non-reciprocal nonlinear phase shift within the laser resonator cavity, and thus an adaptively synchronous mode-locking output is realized. After optimizing the experimental parameters including pulse energy of master injection and filter bandwidth within laser resonator cavity, we achieved a 26 mm tolerance range of cavity-length mismatch. The pulse synchronization system here favors advantages such as simple structure, plug and play, good stability, and polarization-maintaining output.