Just to add a small but important aspect to the development history outlined by Engines, #42
The VAAC Harrier was operated by Flight Systems Sqn at RAE Bedford (circa 1975-80). Significant credit for a new control inception should go the the RAE scientific team, and particularly test pilot Peter B, before his untimely ‘retirement’ via MB seat across the grass.
My involvement was limited to one very closely supervised flight in conventional mode which concluded that any change would be better than the basic Harrier control system !
During the late 70s, aspects of auto control and autothrust were being explored, and in simulation the essence of new inception modes / operation, vs alternatives for independent nozzle control (Harrier).
I was an impartial (uninformed) sounding block, more for the presentation of the case than the technical merit; unfortunately I lost contact with Peter after 1980.