Two X-29A aircraft were flown at the NASA Dryden Flight Research Facility over a period of eight years. The airplanes' unique features are the forward-swept wing, variable incidence close-coupled canard and highly relaxed longitudinal static stability (up to 35% negative static margin at subsonic conditions). This paper describes the primary flight control system and significant modifications made to this system, flight test techniques used during envelope expansion, and results for the low and high angle-of-attack programmes. Throughout the paper, lessons learned will be discussed to illustrate the problems associated with the implementation of complex flight control systems.