I. Introduction
A pilot induced oscillation (PIO) can be described as an inadvertent, sustained aircraft oscillation which is the consequence of an abnormal joint enterprise between the aircraft and the pilot [1]. There are several possible instigators of PIOs such as rate saturated actuators, high gain pilot/controller, system delays and phase lags. The focus of this paper is the rate saturation which is frequently observed during PIO events and has led to several crashes. An excellent overview of the effect of rate limiting in PIOs can be found in [2].