"The Power" shared the first eight legs with the world number four, before a relentless string of finishing helped him win the last 12 legs in succession.
The six-time winner of the even at Wolverhampton Civic Hall only missed eight darts at doubles in the entire game, with five coming in one leg - which he still won.
It means that "The Power" will take on the defending champion Michael van Gerwen, after the world number one came from behind to beat #TeamTarget's Rob Cross 16-13 in a high-quality and absorbing contest, where both players averaged in excess of 102.
Cross, who was still working as an electrician 15 months ago, continued his incredible debut year in PDC darts by taking the game to van Gerwen, and did lead 10-8 at one point.
However, the Dutchman was able to turn the match around to set-up a clash with Taylor on Sunday afternoon for a place in the final, which will be contested in the evening session.
You can follow "The Power" and his campaign to win a seventh and final Grand Slam Of Darts title before retirement live on Sky Sports in the UK, and worldwide via the PDC's broadcast partners.