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The engineering of IoT (Internet of Things) systems brings about various challenges due to the inherent complexities associated with such adaptive systems. Addressing the adaptive nature of IoT systems in the early stages of the development life cycle is essential for developing a complete and precise system specification. In this paper, we propose a use case-based modelling language, UCM4IoT, to support requirements elicitation and specification of IoT systems. UCM4IoT takes into account the heterogeneity of IoT systems and provides domain-specific language constructs to model the different facets of IoT systems. The language also incorporates the notion of exceptional situations and adaptive system behaviour. Our language is supported with a textual modelling environment to assist modellers in writing use cases. The environment supports syntax-directed editing, validation of use case models, and requirements analysis. The proposed language and tool is demonstrated and evaluated with two case studies: smart store system and smart fire alarm system.