- Optimal open loop and stable feedback controls are computed for spacecraft with external and internal torques. Internal torques are provided by multiple reaction wheels mounted with arbitrary orientations. The open loop optimal control problem is formulated via the Pontryagin's necessary conditions. The feedback control laws are derived and global stability established by using the Liapunov stability theory. Performance of the controls in the event of reaction wheel failures is studied and redundancy policies for actuators and control laws are presented. Numerical examples of slewing and tracking maneuvers are presented. Abstract only.