Tracking an angular position trajectory of a mass attached to the free end of a motor shaft with large torsional flexibility is considered. The dynamical model of this plant is an example of a nonlinear system which does not admit a retarded state representation, but only a so-called neutral one. It is a connection of a nonlinear system without delays, the PM stepper motor, and a linear delay system, the shaft with the mass. The tracking problem can be solved by exploiting the so-called i-flatness property of the system.