In this monograph the authors introduce a new method to study bifurcations of KAM tori with fixed Diophantine frequency in parameter-dependent Hamiltonian systems. It is based on Singularity Theory of critical points of a real-valued function which the authors call the potential. The potential is constructed in such a way that: nondegenerate critical points of the potential correspond to twist invariant tori (i.e. with nondegenerate torsion) and degenerate critical points of the potential correspond to non-twist invariant tori. Hence, bifurcating points correspond to non-twist tori.