A method of implementing a flexible command model for aircraft control, the method comprising: receiving a pilot stick input; generating an aircraft response to the pilot stick input that is a continuous blend of first and second response types and comprises calculable time-varying coefficients set as a function of an amplitude of the pilot stick input and an aircraft airspeed, wherein the first and second response types comprise an angular rate command type and an attitude command response type, respectively; subjecting changes in the time-varying coefficients to a first non-linearity allowing for anti-symmetric control of transitions between the first and second response types; calculating a differential equation of the time-varying coefficients through a selection of integrator states, wherein the states are selected such that the differential equation is calculated with time-varying coefficients; subjecting the selected states of the differential equation to at least one additional non-linearity; and outputting a result of calculating the differential equation of the time-varying coefficients as a desired aircraft response, characterized in that a setting of the time-varying coefficients comprises: setting the time-varying coefficients so that for low stick amplitudes and low speeds, attitude command parameters are set; setting the time-varying coefficients so that for high stick amplitudes at low speeds, rate command parameters are set; and setting the time-varying coefficients so that for high speeds, rate command parameters are set regardless of stick amplitude. receiving a pilot stick input; generating an aircraft response to the pilot stick input that is a continuous blend of first and second response types and comprises calculable time-varying coefficients set as a function of an amplitude of the pilot stick input and an aircraft airspeed, wherein the first and second response types comprise an angular rate command type and an attitude command response type, respectively; subjecting changes in the time-varying coefficients to a first non-linearity allowing for anti-symmetric control of transitions between the first and second response types; calculating a differential equation of the time-varying coefficients through a selection of integrator states, wherein the states are selected such that the differential equation is calculated with time-varying coefficients; subjecting the selected states of the differential equation to at least one additional non-linearity; and outputting a result of calculating the differential equation of the time-varying coefficients as a desired aircraft response, characterized in that a setting of the time-varying coefficients comprises: setting the time-varying coefficients so that for low stick amplitudes and low speeds, attitude command parameters are set; setting the time-varying coefficients so that for high stick amplitudes at low speeds, rate command parameters are set; and setting the time-varying coefficients so that for high speeds, rate command parameters are set regardless of stick amplitude. setting the time-varying coefficients so that for low stick amplitudes and low speeds, attitude command parameters are set; setting the time-varying coefficients so that for high stick amplitudes at low speeds, rate command parameters are set; and setting the time-varying coefficients so that for high speeds, rate command parameters are set regardless of stick amplitude.