Control law mode switching between rate command and attitude command control systems

A method and system for controlling transitions between attitude command/response and rate command/response in an aircraft control system wherein the transfer function for a generic second order system is developed at current operating conditions and a predetermined constant damping. During a transition, trim follow-up frequency is changed progressively to coincide with the desired bandwidth, thereby effecting a pole-zero cancellation and converting the transfer function to that of a rate command/response system. Actuators, responsive to signals produced by the control, change aircraft parameters by altering the position of the main rotor and tail rotor control system in accordance with pilot input signals.