A rotary-wing aircraft comprising: a dual, counter-rotating, coaxial rotor system having an upper rotor system and a lower rotor system rotatable about a common axis of rotation (A); a sensor system within an airframe (F); an upper HHC actuator system to control said upper rotor system in an X-Y-Z axis; a lower HHC actuator system to control said lower rotor system in an X-Y-Z axis; wherein said upper HHC actuator system and said lower HHC actuator system each include a fore-aft cyclic actuator; a left-right cyclic actuator and a collective actuator, and are configured to respectively control an upper swashplate of said upper rotor system and a lower swashplate of said lower rotor system , a HHC controller in communication with said sensor system , said upper HHC actuator system , and said lower HHC actuator system to individually control said upper rotor system and said lower rotor system to reduce vibration, wherein said upper HHC actuator system and said lower HHC actuator system are configured to respectively control an upper rotor control system of said upper rotor system and a lower rotor control system of said lower rotor system , wherein the HHC controller is configured to individually control the fore-aft cyclic actuator, the left-right cyclic actuator and the collective actuator of the upper rotor system , and is configured to individually control the fore-aft cyclic actuator, the left-right cyclic actuator and the collective actuator of the lower rotor system independent of the fore-aft cyclic actuator, the left-right cyclic actuator and the collective actuator of the upper rotor system . a dual, counter-rotating, coaxial rotor system having an upper rotor system and a lower rotor system rotatable about a common axis of rotation (A); a sensor system within an airframe (F); an upper HHC actuator system to control said upper rotor system in an X-Y-Z axis; a lower HHC actuator system to control said lower rotor system in an X-Y-Z axis; wherein said upper HHC actuator system and said lower HHC actuator system each include a fore-aft cyclic actuator; a left-right cyclic actuator and a collective actuator, and are configured to respectively control an upper swashplate of said upper rotor system and a lower swashplate of said lower rotor system , a HHC controller in communication with said sensor system , said upper HHC actuator system , and said lower HHC actuator system to individually control said upper rotor system and said lower rotor system to reduce vibration, wherein said upper HHC actuator system and said lower HHC actuator system are configured to respectively control an upper rotor control system of said upper rotor system and a lower rotor control system of said lower rotor system , wherein the HHC controller is configured to individually control the fore-aft cyclic actuator, the left-right cyclic actuator and the collective actuator of the upper rotor system , and is configured to individually control the fore-aft cyclic actuator, the left-right cyclic actuator and the collective actuator of the lower rotor system independent of the fore-aft cyclic actuator, the left-right cyclic actuator and the collective actuator of the upper rotor system . <EOS>