In the last decades, nanosatellites have made space accessible to a wide public thanks to their low cost and fast development time, compared to traditional satellites, profoundly changing both the market and the space industry. Since their inception, they have played an important role in the so-called new space economy. In particular, CubeSats nanosatellites, thanks to their standardisation, evolved from being simple educational tools to being used in multiple space applications. Thanks to their use in constellations with increasing success, CubeSats offer a valid alternative to traditional spacecraft in areas of great scientific-application relevance. One of the most complex and challenging subsystems in CubeSats is the Attitude Determination and Control System (ADCS).