The relations which determine the nutation effects induced in a spinning spacecraft by periodic precession thrust pulses are derived analytically. By utilizing the idea that nutation need only be observed just before each precession thrust pulse, a difficult continuous-time derivation is replaced by a simple discrete-time derivation using z-transforms. The analytic results obtained are used to develop two types of modulated precession control laws which use the precession maneuver to concurrently control nutation. Results are illustrated by digital simulation of an actual spacecraft configuration.
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