Fractional-Order Partial Cancellation of Integer-Order Poles and Zeros

The key idea of this contribution is the partial compensation non-minimum phase zeros or unstable poles. Therefore integer-order zero/pole split into a product fractional-order pseudo zeros/poles. amplitude and response these terms derived to include compensators loop-shaping design. Such can be generalized conjugate complex zeros/poles, also implicit applied. In case zero, its leads higher margin steeper open-loop around crossover frequency resulting in reduced undershooting step-response, as illustrated numerical example.