I practice meditation for about 30 minutes every day and sometimes more. I reach the state of feeling like I’m about to fall asleep and this is when everything fades and I truly feel connected with everything. But I don’t feel like I can control myself. I just am. It feels like I’m about to fall asleep and then before that happens I don’t jerk myself but simply “wake up” and stay in this process of almost falling asleep then waking up. How can I control my mind in this state? How can I stay in this state without feeling like I am going to fall asleep? Any and all help is appreciated.
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To control it so that you don’t fall asleep, try chanting some mantra or something and rock your body back and forth. That will help. 
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Don’t lie down… Be pumped
Hard work and practice.
Try some YouTube videos on meditation with good sound quality to your liking. Do this until you get so good at it that you don’t need any audio at all.
By then you’ll have mastered getting into state without any need of instruments at all.