Technological progress changed the satellites’ design over time: the modern tendency is to realize miniaturized spacecraft, best known as CubeSats, equipped by high-tech instrumentation and capable to perform transportation and objects’ manipulation functions, as Unmanned Aerial Vehicles or similar on the Earth. Because of their small size, these systems are subject to changes during all phases of the space mission, due to strong interaction with the external environment, internal torques and forces/torques generated by thrusters. The Attitude Determination and Control System (ADCS) has to be designed for reaching the desired state, exploiting information about inertia tensor elements, total mass and system’s centre of mass position.