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Aircraft models may be considered as flat if one neglects some termsassociated to aerodynamics. Computational experiments in Maple show that insome cases a suitably designed feed-back allows to follow such trajectories,when applied to the non-flat model. However some maneuvers may be hard or evenimpossible to achieve with this flat approximation. In this paper, we proposean iterated process to compute a more achievable trajectory, starting from theflat reference trajectory. More precisely, the unknown neglected terms in theflat model are iteratively re-evaluated using the values obtained at theprevious step. This process may be interpreted as a new trajectoryparametrization, using an infinite number of derivatives, a property that maybe called \emph{generalized flatness}. We illustrate the pertinence of thisapproach in flight conditions of increasing difficulties, from single engineflight, to aileron roll.

Extending Flat Motion Planning to Non-flat Systems. Experiments on Aircraft Models Using Maple