Abstract: A method is provided for controlling the attitude of a momentum biased spacecraft about all three mutually orthogonal axes during a thruster firing maneuver without separately sensing angular displacement, angular rate, or angular acceleration about the spacecraft yaw axis. The method includes a transient phase during which a yaw feedforward torque is computed based on the known pitch/yaw coupling due to thruster geometry, and a steady state phase, during which feedback gains are adjusted to estimate yaw attitude based on coupling of a steady state disturbance torque about the roll axis of the spacecraft and a steady state disturbance torque about the yaw axis of the spacecraft.