## 1 Introduction  
In the military, stealth performance dominates aerial vehicle designs due to the successful practice of the B-2 strategic bombers in the Gulf War. However, stealth is usually achieved at the price of aerodynamic configurations, which inevitably causes poor takeoff/landing performance [1; 2; 3]. When it comes to shipborne takeoff/landing, this issue becomes somewhat unacceptable due to the limited runway range. A thrust-vectored aircraft is a resolution to this issue, as the propulsion system compensates for aerodynamic loss and enables the aircraft to perform short or vertical takeoffs and landings [4]. The short takeoff (STO) and shipborne rolling vertical landing (SRVL) is a landing strategy proposed for the thrust-vectored aircraft by the US marines. Even though a manned F-35B execution video is published online, the accessible literature on the systematic SRVL approach is limited. For the performance requirements, Reference [5] gave the shore and decked verification of the F-35B vehicles, with the performance requirements specified. Reference [6] provided a systematic performance computation method based on the attainable equilibrium set methods. For the flying quality requirements, Reference [7] designed a dynamic inverse controller for the X-35B, which is the predecessor of F-35B, and verified the flying qualities of the closed-loop system. The hover state directional guidelines were given, but the left procedures were not specified, which were verified by Cooper-Harper standards instead. Reference [8] designed H-o controllers for helicopters according to robust flying qualities, which may provide some reference for hovering state flying quality. Reference [9] gave the longitudinal results of the flying quality analysis of an F/A -18 fighter equippedwith the JAS 39 mini-stick controller, but the Cooper-Harper ratings were still applied, and no specific guidelines were given. Reference [10] stated: the joint strike fighter projects, which include the F-35B project, use the performance-based specifications instead of the traditional flying quality for controller designs. However, the classical design guidelines such as Mil-F-83300, AGARD 577, and UK DEF STAN 00-970 were also referred to for verification. The limited criterion pushed us to apply the specifications for the normal fighters for control system design. The research on the control system design for the short takeoff or vertical landing (STOVL) vehicles is comparatively rich. Reference [11] applied the dynamic inverse theory and designed the controller for the F-35B reduced-scale vehicles for the transitional flight control, and the simulation results reflected an excellent tracking performance. Reference [12] used an L1 adaptive [13] inner-loop controller and designed a roll-horizon landing deceleration and landing strategy for the hybrid-wings vehicles. Reference [14] applied the nonlinear active disturbance rejection controller (ADRC) to the tilt wings in the landing stage control. For less maintenance costs and higher reliability, the NDI controller is used by the F-35B projects [2; 15]. Since the NDI control theory has been applied in many mature industrial products [16; 17; 18], this work follows the design. Besides, the allocation issue is crucial for a redundant control system. Reference [19] evaluated the profits of the optimization allocation technics, such as pseudoinverse, quadratic programming, and fixed-point algorithms, and found that even though the tracking error can be reduced most of the time, it is possibly uncontrollable in certain cases. Reference [20] compared the allocation method with the servomechanism method and concluded that control allocation makes the performance uniformly better. For the flight security issue, References [21; 22; 23] provided an envelope protection method for small unmanned aerial vehicles (UAVs) based on performance boundaries, which inspired us in the parameter boundary setting methods.