A control system for controlling a rotorcraft rotor, to a rotorcraft fitted therewith, and to a corresponding control method. The system comprises selector means for defining at least two disjoint position ranges for the control member between two physical abutments corresponding to the movement limits of the control member, a first position range being defined between at least two first limit values about a zero force position of the control member, and at least one second position range being defined between at least one of the at least two first limit values and at least one second limit value; and control means for allocating a first control law to the first position range of the control member and a second control law to the second position range of the control member, the first and second control laws being selected to be mutually distinct.