Abstract: A flight control limiting system for a rotary-wing aircraft which generates servo-commands for at least one of a main rotor and a tail rotor. A set of first commands represents the position of at least one flight control which is movable between extreme positions, and may be controlled by the pilot. A set of second commands are generated by a flying aid system. The flight control limiting system limits the values of the set of second commands when the position of any of the flight controls is close to an extreme position, so that the servo-commands for that particular flight control corresponds to the set of first commands.