Rendezvous and Docking (RVD) operations are among the most critical and challenging operations of in-orbit servicing missions. In this type of operation, safety plays a crucial role, as it is necessary to have extremely precise control over the satellite's position, velocity and attitude when the two bodies are in such close proximity, in order to avoid mission-compromising anomalies. This thesis is part of the SROC (Space Rider Observer Cube) project, promoted by ESA and carried out in collaboration with Tyvak International, Politecnico di Torino and Università di Padova. Initially, the mission architecture involved a CubeSat performing RVD with the Space Rider platform.