This paper presents the development process of an aircraft control law. The control law is designed using a two-degree-of-freedom (2DoF) structured H∞ loop-shaping approach. This method allows the reuse of controller structures required by certification procedures while directly including handling qualities and robust stability requirements in the optimization process. This strategy is employed to develop a Rate Command and Attitude Hold (RCAH) demand system aimed at satisfying longitudinal handling qualities. First, the stability of the open-loop model and its compliance with the handling qualities guidelines are evaluated. Then, the control law is designed, with a detailed description provided of the design specifications and their formulation in the context of H∞ control. Subsequently, the controller parameters are optimized to satisfy the design specifications and a closed-loop analysis is performed. Finally, a simulator flight testing campaign is conducted to experimentally validate the designed control law. It is shown that the aircraft equipped with the RCAH system achieves better handling quality ratings (HQRs) and more favorable pilot feedback, providing a substantial improvement over the bare airframe.