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Yong Feng, Xinghuo Yu, Fengling Han, On nonsingular terminal sliding-mode control of nonlinear systems, Automatica, Volume 49, Issue 6, 2013, Pages 1715-1722, ISSN 0005-1098, https://doi.org/10.1016/j.automatica.2013.01.051. (https://www.sciencedirect.com/science/article/pii/S0005109813000526) Abstract: This paper proposes a method to overcome the singularity problem of terminal sliding-mode control systems. The system behaviors in both the reaching phase and the ideal sliding-mode are analyzed. A global nonsingular terminal sliding-mode control strategy for nonlinear systems is developed and it is shown that the proposed control strategy can eliminate the singularity, while guaranteeing the finite-time reachability of the systems to the terminal sliding-mode surface and the finite-time convergence of the systems towards the origin along the terminal sliding-mode surface. Keywords: Sliding-mode control; Terminal sliding-mode; Dynamic behavior; Lyapunov stability; Singularities