Fig. 2
Longitudinal and pitch nonlinear optimal MCA
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: aircraft acceleration; 
: pilot’s head vestibule acceleration in simulator; 
: acceleration after nonlinear scaling & limiting; PS: pilot station; LSI: transformation matrix from simulator into inertial frame; TS: transformation matrix from angular velocity to Euler angle rates; 
: angular velocity after TS; 
: angular velocity after nonlinear scaling & limiting; 
: washout angular velocity after tilt rate limit; 
: the sum of washout angular velocity; 
: washout angular displacement; s: Laplace variable; 
: washout acceleration in the inertial frame; 
: washout velocity in the inertial frame; SI: washout displacement in the inertial frame; K(α): the feedback matrix
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