In this paper we propose a solution for the synthesis of a feedforward control action for a fractional control system. In particular, an input-output inversion based methodology is devised in order to determine the open-loop signal that provides a predefined process variable transition from a steady-state value to another. The transition time is then minimized subject to constraints on the process and control variables and their derivatives. Simulation results show the effectiveness of the technique. (C) 2014 Elsevier Ltd. All rights reserved.