  In the present work, a traditional quantity, the averaged fidelity, is
introduced as the steering parameter. From the definitions of steering from
Alice to Bob and the joint measurability, a general scheme is developed to
design linear steering criteria. For a given set of measurements on Bob's side,
the so-called nonsteering threshold is defined to quantify the ability to
detect steering. If the measured averaged fidelity exceeds this threshold, it
is shown that the state shared by Alice and Bob is steerable from Alice to Bob,
and the measurements performed by Alice are also verified to be incompatible.
Within the general scheme, a discussion about how to design optimal criteria is
provided for two different scenarios: (a) to find the optimal measurements on
Bob's side when the state is unknown and (b) to find the optimal measurements
for Alice when the state and the measurements on Bob's side are given.
