A sensorless control based on the exact tracking error dynamics passive output feedback (ETEDPOF) methodology is proposed for executing the angular velocity trajectory tracking task on the “full-bridge Buck inverter–DC motor” system. When such a methodology is applied to the system, the tracking task is achieved by considering only the current sensing and by using some reference trajectories for the system. The reference trajectories are obtained by exploiting the flatness property associated with the mathematical model of the “full-bridge Buck inverter–DC motor” system. Experimental tests are developed for different desired angular velocity trajectories. With the aim of obtaining the experimental results in closed-loop, a “full-bridge Buck inverter–DC motor” prototype, Matlab-Simulink, and a DS1104 board from dSPACE are employed. The experimental results show the effectiveness of the proposed control.