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This paper presents the methodology for the design and control of a high-stiffness fast tool servo (FTS) system for practical application in diamond machining of freeform surfaces. The electromechanical model of the FTS system is established by combining the piezoelectric actuator and the flexure hinge mechanism for the formulation of the control methodology. In order to accommodate the system nonlinearity, cutting force disturbances as well as to realize fast and accurate tracking of designated tool path required for diamond machining of freeform surfaces, a novel adaptive terminal sliding mode (NATS) control strategy capable of online self-tuning of the system gain and reach time related parameters are developed. Stability analysis of the proposed NATS controller is performed. The convergence behavior of tracking error in the presence of model parameter variations and cutting force disturbance is analyzed …