Pedro Tavares, Paulo Tabuada, ‡



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The equation represents all the control torques that lie on a plane that is perpendicular to . Therefore, imposing is the same as constraining the control torque to lie “behind” the plane perpendicular to . Furthermore, the control torque is obtained from (2), therefore it must always be perpendicular to the geomagnetic field. As such, the solution of this control problem must satisfy two requirements:

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