]> 2026-07-12T01:16:14+00:00 Outer flatness: trajectory generation for a model helicopter 0 en This paper introduces the concept of outer flatness, a derivative of differential flatness. Outer flatness describes a system that can be split in 2 subsytems, a non-flat inner system and a flat outer system. The outputs of the outer system are the tracking outputs of interest. The inputs of the outer system are the outputs of the inner system, and not subject to our direct control. The inputs of the inner system are the real actuator inputs. This system structure is also present in backstepping and dynamic inversion. We present two theorems on exponential and bounded tracking for outer flat systems, based on Lyapunoff arguments. We validate the approach with simulations and experiments on a model helicopter. <p> Michiel van Nieuwstadt and Richard M. Murray 1997m 1997 European Control Conference nm97-ecc Conference Paper 2016-05-15T06:19:54Z 2457523.7638194 Outer flatness: trajectory generation for a model helicopter Title 102 en Title