A MATLAB simulation for 3 DoF attitude control of a satellite, using reaction wheels. The simulation had been improved to accommodate a tetrahedral arrangement of the wheels too, but sadly that version of the code seems lost.
This is heavily based off Prof. Carlos Montalvo's ADCS seminar series: https://www.youtube.com/playlist?list=PL_D7_GvGz-v3mDQ9iR-cfjXsQf4DeR1_H