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As an example, we consider the pitch control of a spacecraft with a reaction wheel with its axis along the pitch axis using a position-plus-rate control law. The equation for the pitch angle, 9, is,

where L is the total angular momentum (wheel plus spacecraft body), h is the wheel momentum, N0 is the disturbance torque, Nc = — h is the control torque which alters the speed of the reaction wheel, and I is the moment of inertia of the spacecraft about the pitch axis. It is convenient to rewrite the position-plus-rate control law in the form

0 0

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