Chapter 3 provides a finite-time sliding mode control (SMC) method to attain the stochastic finite-time boundedness (SFTB) under actuator faults, in which the multiplicative failure is regarded as a fading effect on the control signal. In this chapter, more complex actuator nonlinearities are addressed. Specifically, different components of the actuator are subject to different nonlinearities consisting of deadzones and sector nonlinearities. Suffering from such actuator nonlinearities, this chapter is concerned with the finite-time SMC method for a class of Markov jump systems (MJSs) with uncertain transition rates (TRs), that is, the elements in the TR matrix might be uncertain or even completely unknown. A component-wise sliding mode controller is designed such that the SFTB of state trajectories is attained during a given finite-time interval, in which two different robust terms are introduced, respectively, for the known and unknown modes to deal with the effect of uncertain TRs. Moreover, the connection among mode-dependent sliding functions under Markov jumping for SMC systems are analyzed. Finally, a numerical example is carried out and some simulation results with a wheeled mobile manipulator are provided.