We have found the precise stability region of the half quantum vortex (HQV) for superfluid $^3$He A phase confined in parallel plates with a narrow gap under rotation. Standard Ginzburg-Landau free energy, which is well established, is solved to loca
te the stability region spanned by temperature $T$ and rotation speed ($/Omega$). This $/Omega$-$T$ stability region is wide enough to check it experimentally in available experimental setup. The detailed order parameter structure of HQV characterized by A$_1$ core is given to facilitate the physical reasons of its stability over other vortices or textures.
A concrete and experimentally feasible example for testing the putative Majorana zero energy state bound in a vortex is theoretically proposed for a parallel plate geometry of superfluid $^3$He-A phase. We examine the experimental setup in connection
with ongoing rotating cryostat experiments. The theoretical analysis is based on the well-established Ginzburg--Landau functional, supplemented by microscopic calculations of the Bogoliubov--de Gennes equation, both of which allow the precise location of the parameter regions of the Majorana state to be found in realistic situations.
