Attitude control laws that use control moment gyros (CMGs) and momentum wheels are derived with nonlinear techniques. The control laws command the CMGs to provide rapid angular acceleration and the momentum wheels to reject tracking and initial condition errors. Numerical simulations of derived control laws are compared. A trend analysis is performed to examine the benefits of the derived controllers. We describe the design of a CMG built using commercial off-the-shelf (COTS) equipment. A mixed attitude control strategy is implemented on the spacecraft simulator at Virginia Tech.