A rotorcraft control system is provided and includes a rotor blade having a moving surface operatively connected for movement among various positions, an actuator receptive of a modified control signal and operatively connected to move the surface among the various positions, a sensor operably coupled to the actuator to generate a sensor response signal reflective of a response of the actuator to the modified control signal and a controller to output the modified control signal to the actuator, the controller including a control loop to generate the modified control signal from an initial control signal that is modified by relating the initial control signal and the sensor response signal and by accounting for actuator inaccuracies, sensor sensitivities and noise.