Abstract: A compact, rugged, streamline, stiff, pitch control system is devised in a helicopter by concentrically nesting a cyclic pitch control tube and collective pitch control tube within the drive shaft and stationary mast of a helicopter rotor system. The collective pitch control tube terminates in an upper inclined flange which engages a stationary swashplate by means of a bearing member disposed in an inclined bearing raceway in the stationary swashplate. The stationary swashplate in turn is rotatably coupled through a universal joint to the cyclic pitch control tube. Relative rotation of the cyclic pitch control tube with respect to the collective pitch control tube adjusts the stationary swashplate to a selected inclination with respect to the longitudinal axis of the control tubes and of the helicopter mast. A rotating swashplate is rotatably coupled to the stationary swashplate and transmits the angular orientation of the stationary swashplate to the pitch case of each rotor blade as appropriate.