Design of nonsingular terminal sliding mode surface

The design conditions of traditional terminal sliding surface for second order system are raised, and proved the singular phenomenon is inevitable when use the traditional terminal sliding mode surface. A new nonsingular terminal sliding mode surface is proposed for second order nonlinear dynamic system with external disturbance. The time of reaching this kind of TSM from any initial system state is proved to be finite. The simulation results show the novel control strategy is effective and feasible.