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The non-minimum phase (NMP) zero of a linear process located in the feedbackconnection cannot be cancelled by the same pole of controller according to theinternal instability problem. However, such a zero can partly be cancelled bythe same fractional-order pole of a pre-compensator located in series withprocess without facing internal instability. This paper first presents newtheoretical results on the properties of this method of cancellation, andprovides design techniques for the pre-compensator. It is especially shown thatby appropriate design of pre-compensator this method can simultaneouslyincrease the gain and phase margin of the system under control without aconsiderable reduction of open-loop bandwidth, and consequently, it can makethe control problem easier to solve. Then, a method for realization of such apre-compensator is proposed and performance of the resulted closed-loop systemis studied through an experimental setup.

Performance enhancement of non-minimum phase feedback systems by  fractional-order cancellation of non-minimum phase zero on the Riemann  surface: New theoretical and experimental results