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This paper investigates the thruster control problem for micro-satellite attitude. Firstly, the attitude dynamic and kinematics equations are introduced. Secondly, the phase plane optimal attitude control algorithms are put forward, and the Pulse-Width Pulse-Frequency (PWPF) modulator is also designed. Then, the hardware-in-the-loop simulation system based on the air-bearing table are introduced and established to validate the control algorithms. Finally, the simulations are carried out. The simulation results indicate that the proposed methods are effective and feasible, which can realize the high accuracy attitude control for micro-satellite. [ABSTRACT FROM PUBLISHER]