Fractional/distributed-order systems and irrational transfer functions with monotonic step responses

This paper deals with irrational transfer functions having monotonic nondecreasing step responses. Firstly, some results on the monotonicity of step responses in irrational transfer functions describing fractional- or distributed-order systems are presented. Then, some conditions guaranteeing the existence of monotonic nondecreasing step responses in more general forms of irrational transfer functions are found. Various examples are brought to show the usefulness of the obtained results in time response analysis of fractional/distributed-order systems. The achievements of the paper can be used in the design of control systems having monotonic step responses.