A complete set of lecture notes for a one-semester, graduate-level course in control for spacecraft models. Topics include a review of rigid body mechanics; review of stabilty concepts and Lyapunov analysis; Lyapunov control methodology; methods for rigid body regulation involving quaternions and other Euler-parameter types of attitude variables; basics of reference motion tracking and reference motion trajectories for rotational motion; reference motion tracking without rate information; adaptive control for rigid body rotational motion; gyrostat models and control for nutation damping & flat-spin recovery; models for single gimbal control moment gyros; velocity- and acceleration-based steering laws; and feedback control singularities and null motion feedback control.