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Time Lords can regenerate voluntarily. Romana was shown doing exactly that (& choosing the appearance she would have in her 2nd incarnation) at the start of "Destiny of the Daleks".

It is also stated in "Doctor Who and the Deadly Assassin" (novelisation of "The Deadly Assassin"), from Target, that the Master had used up all twelve of his regenerations by forcing himself to regenerate into new forms as part of his schemes, and to be able to use people without them recognising him. This was confirmed on screen in "Doctor Who", the 1996 TV movie.