Abstract: Aimed at addressing the problems of singularity, chattering, and slow convergence of the terminal sliding-mode control for a class of nonlinear uncertain systems, a nonsingular terminal sliding switch function and a novel reaching law are applied together to the sliding-mode control for the first time. Under the assumption of eliminating the singular value, a novel law based on the power-reaching law is introduced to design a new type of nonsingular terminal sliding-mode controller, and its stability is verified. By using the new controller in an inverted pendulum system, it is proved that the reaching performance when system state is far away from sliding surface is enhanced, and system singularity is simultaneously solved. The simulation results show that the system quickly converged to equilibrium, and that the proposed method is effective.