“…all the state variables and the inputs can be parameterized in terms of so-called flat outputs (or linearizing outputs) and a finite number of their successive time derivatives (see Fliess, Le´vine, Martin, & Rouchon, 1992;Fliess, Le´vine, Martin, & Rouchon, 1995;Fliess, Le´vine, Martin, & Rouchon, 1999 for theoretical background and Grochmal & Lynch, 2007;Horn, Bamberger, Michau, & Pindl, 2003 for some applications). Flat systems are dynamical systems that are linearizable to controllable linear systems by means of an endogenous feedback (i.e.…”