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This paper proposes a continuous finite-time control scheme using a new form of terminal sliding mode (TSM) combined with a sliding mode disturbance observer (SMDO). The proposed controller is applied for nanopositioning of piezoelectric actuators (PEAs). Nonlinearities, mainly hysteresis, can drastically degrade the system performance. Same as the model imperfection, hysteresis can also be treated as uncertainties of the system. These uncertainties can be addressed by terminal sliding modedoi:10.1155/2014/760937 fatcat:2u7vdhklsvdijf7qxkbabc6sty