# Flatness-based control revisited: The HEOL setting

arXiv: https://arxiv.org/abs/2408.11580 · HTML: https://mlsanity.com/paper/2408.11580/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Aug 2024.

## Built on by (most cited first, 2 of 2)

- [Model-Free Predictive Control: Introductory Algebraic Calculations, and a Comparison with HEOL and ANNs](https://mlsanity.com/paper/2502.00443/) (2025)
- [Avoidance of an unexpected obstacle without reinforcement learning: Why not using advanced control-theoretic tools?](https://mlsanity.com/paper/2509.03721/) (2025)

## Abstract (arXiv)

We present the algebraic foundations of the HEOL setting, which combines flatness-based control and intelligent controllers, two advances in automatic control that have been proven in practice, including in industry. The result provides a solution to many pending questions on feedback loops concerning flatness-based control and model-free control (MFC). Elementary module theory, ordinary differential fields and the generalization of K"ahler differentials to differential fields provide an intrinsic definition of the tangent linear system. The algebraic manipulations associated with the operational calculus lead to homeostat and intelligent controllers. They are illustrated via some computer simulations.