  This paper studies Monge parameterization, or differential flatness, of
control-affine systems with four states and twocontrols. Some of them are known
to be flat, and this implies admitting a Monge parameterization. Focusing on
systems outside this class, we describe the only possible structure of such a
parameterization for these systems, and give a lower bound on the order of this
parameterization, if it exists. This lower-bound is good enough to recover the
known results about "(x,u)-flatness" of these systems, with much more
elementary techniques.
