In this study, a novel design method for half-cycle and modified posicast controller structures is proposed for a class of the fractional-order systems. In this method, all required design variable values; namely, the input step magnitudes and their application times are obtained as functions of fractional system parameters. Moreover, empirical formulas are obtained for the overshoot values of the compensated system with half-cycle and modified posicast controllers designed utilizing this method. The proposed design methodology has been tested via simulations and ball balancing real-time system. It is observed that the derived formulas are in coherence with the outcomes of the simulation and real-time application. Furthermore, the performance of the modified posicast controller designed using the proposed method is much better than other posicast control method.