The control of angular momentum for asymmetric rigid bodies

A linear feedback law is obtained in closed form for the regulation of the angular momentum of an arbitrary rotating rigid body, without linearizing hypotheses of symmetry, yet optimal for a suitable quadratic energy cost. The evolution of the amplitude of the controlled angular momentum is thereby obtained in closed form, whence asymptotic closed-loop stability and exact open-loop terminal rate nulling are derived. Earlier steady-state results are recovered as particular cases.