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In this paper, we propose a practical and systematic approach to the control design method for MIMO systems based on flatness theory. The proposed approach focuses on the emergent ability of genetic programming and the decoupling ability of Descusse & Moog's algorithm. The former could generate nonlinear functions as the flat outputs, and the latter could construct dynamic controllers through the decoupling process. Some simulations are carried out to show the effectiveness of the proposed approach.