A rotor hub, comprising: a yoke configured to attach a plurality of rotor blades; a constant velocity joint configured to drive torque from a rotor mast to the yoke and further configured to enable the yoke to pivot relative to the rotor mast; and a rotor control system configured to adjust an orientation of the plurality of rotor blades, wherein the rotor control system comprises: a swashplate; a phase adapter fulcrum; a plurality of actuators (321a-c) configured to adjust an orientation of the swashplate based on a flight control input; a plurality of lower pitch links (322a-c) configured to transfer motion between the plurality of actuators (321a-c) and the swashplate; a plurality of phase adjustment levers (313a-c) coupling the actuators (321a-c) to the pitch links (322a-c) and configured to adjust a control phase associated with motion transferred between the plurality of actuators (321a-c) and the plurality of lower pitch links (322a-c); the phase adapter fulcrum being used as a pivot mount for the phase adjustment levers (313a-c); and a plurality of upper pitch links (324a-h) configured to transfer motion between the swashplate and the plurality of rotor blades to adjust a pitch of the plurality of rotor blades, wherein the plurality of upper pitch links (324a-h) comprises a larger number of pitch links than the plurality of lower pitch links (322a-c). a yoke configured to attach a plurality of rotor blades; a constant velocity joint configured to drive torque from a rotor mast to the yoke and further configured to enable the yoke to pivot relative to the rotor mast; and a rotor control system configured to adjust an orientation of the plurality of rotor blades, wherein the rotor control system comprises: a swashplate; a phase adapter fulcrum; a plurality of actuators (321a-c) configured to adjust an orientation of the swashplate based on a flight control input; a plurality of lower pitch links (322a-c) configured to transfer motion between the plurality of actuators (321a-c) and the swashplate; a plurality of phase adjustment levers (313a-c) coupling the actuators (321a-c) to the pitch links (322a-c) and configured to adjust a control phase associated with motion transferred between the plurality of actuators (321a-c) and the plurality of lower pitch links (322a-c); the phase adapter fulcrum being used as a pivot mount for the phase adjustment levers (313a-c); and a plurality of upper pitch links (324a-h) configured to transfer motion between the swashplate and the plurality of rotor blades to adjust a pitch of the plurality of rotor blades, wherein the plurality of upper pitch links (324a-h) comprises a larger number of pitch links than the plurality of lower pitch links (322a-c). a swashplate; a phase adapter fulcrum; a plurality of actuators (321a-c) configured to adjust an orientation of the swashplate based on a flight control input; a plurality of lower pitch links (322a-c) configured to transfer motion between the plurality of actuators (321a-c) and the swashplate; a plurality of phase adjustment levers (313a-c) coupling the actuators (321a-c) to the pitch links (322a-c) and configured to adjust a control phase associated with motion transferred between the plurality of actuators (321a-c) and the plurality of lower pitch links (322a-c); the phase adapter fulcrum being used as a pivot mount for the phase adjustment levers (313a-c); and a plurality of upper pitch links (324a-h) configured to transfer motion between the swashplate and the plurality of rotor blades to adjust a pitch of the plurality of rotor blades, wherein the plurality of upper pitch links (324a-h) comprises a larger number of pitch links than the plurality of lower pitch links (322a-c).