This paper describes the maturation of a control allocation technique designed to assist pilots in recovery from pilot-induced oscillations. The control allocation technique to recover from pilot-induced oscillations is designed to enable next-generation high-efficiency aircraft designs. Energy-efficient next-generation aircraft require feedback control strategies that will enable lowering the actuator rate limit requirements for optimal airframe design. A common issue on aircraft with actuator rate limitations is they are susceptible to pilot-induced oscillations caused by the phase lag between the pilot inputs and control surface response. The control allocation technique to recover from pilot-induced oscillations uses real-time optimization for control allocation to eliminate phase lag in the system caused by control surface rate limiting. System impacts of the control allocator were assessed through a piloted simulation evaluation of a nonlinear aircraft model in the NASA Ames Research Center’s Vertic...