A rudder control apparatus includes a pair of pedal assemblies, coupled to a support frame for control of a rudder control device. Each one of the pedal assemblies includes an idler link, a coupler link, and a drive link. The idler link is coupled to the support frame and is pivotable relative to the support frame. The coupler link is coupled to the idler link and is pivotable relative to the idler link. The drive link is coupled to the coupler link and to the support frame and is pivotable relative to the coupler link and relative to the support frame. A pedal is coupled to the coupler link. A four-bar linkage is formed by the support frame, the idler link, the coupler link, and the drive link and confines movement of the pedal to a linear travel path in a forward direction and a rearward direction.