Control moment gyros in an array are rotated to reorient a satellite. A pseudo inverse control is employed that adds a term to a Moore-Penrose pseudo inverse to prevent a singularity....http://www.google.es/patents/US6039290?utm_source=gb-gplus-sharePatente US6039290 - Robust singularity avoidance in satellite attitude control
Robust singularity avoidance in satellite attitude control
