Spacecraft attitude control laws are often designed using linear control design techniques. As a result, their effectiveness
can be guaranteed only for small attitude angles and small angular velocities since in that situation a linear approximation
of the attitude equations can be employed. However, there are occasions when the spacecraft motion involves large
attitude angles and large angular velocities. For those motions, the full nonlinear attitude equations must be used for
evaluating the effectiveness of attitude control laws. In this course, basic results of Lyapunov stability theory will be
presented and applied to nonlinear spacecraft attitude control.

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