Single-winged rotorcrafts have only started to gain acceptance in the world of manned and Unmanned Aircraft Systems (UAS). Embry-Riddle Aeronautical University is on the forefront of this research, with the development of a single-bladed rotorcraft known as a monocopter starting from 2004. The ability to create a harmonic pitch control system for a vehicle of which the entire frame rotates has presented a number of issues which are presented in this paper.