Practical mechatronical design processes are complicated by the fact that a final performance assessment requires the design both of the electro-mechanical plant model and of the control system. In the development phase, this implies that the ”best” control system must be looked at for every design candidate, which is either very time consuming iterations or leads to clearly suboptimal solutions. To avoid this problem, the use of the concept of inverse models developed for the tracking of nonlinear systems has been proposed. The results of this analysis can then be used to de…ne an extension of the measurement space to further reduce (or, ideally, eliminate) the remaining sensitivity to unmodeled parameters.