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A lot of control design methods have been reported so far. Among them we focus on the flatness based method. This method seems promising because the nonlinear controllers can be constructed by means of a linear design approach, due to the flatness property. However, it should be noted that there is little research about the flatness based design with the performance index. So we introduce the performance index in the flatness based design, and pay attention not only to the stability, but also to the optimality.