A control system for a rotorcraft is disclosed. The control system includes a stepped mixing linkage, such that a selected amount of right-left lateral cyclic output is generated for certain amounts of forward-aft cyclic input. The stepped mixing linkage includes two supporting links and a floating link pivotally coupled between the two supporting links. The ratio of the lengths of the two supporting links to the length of the floating link is small, thereby generating a selected lateral sinusoidal output, a selected rotation of the sinusoidal output, and a selected ramped output in response to each forward-aft pilot input command.