With the requirements for CubeSats increasing, a push towards utilizing high­performance equipment has never been greater. Incorporating these equipment in an environment that is cost­, space­ and power­constrained, is challenging. Simultaneously, high­performance equipment require high pointing­accuracy and low­jitter. This thesis proposes the use of a cost­effective reaction­wheel, which utilizes three hall­sensors for accurate attitude­control. Additionally, the requirements state that the reaction­wheel operates in the low­speed region, whilst tracking low­acceleration commands. For this, a controller­structure is designed, simulated & implemented in order to provide accurate angular­velocity estimates at a constant rate. Whilst the angular­velocity estimates are within 1% of the measurements, the angular­acceleration tracking performance relies greatly on the noise of the reaction­wheel torque­friction. Nonetheless, the angular­acceleration mean error was found to be 0.005 RPM/s, with a variance of 0.3 RPM/s on a 0.01 RPM/s reference

In this thesis it is described how a Battery System and an Output System are designed. This design is part of a Power System for the DeciZebro swarm robot. Two other parts are designed, the Input System and the Control System. A battery pack was designed, together with a Battery Management System. Next the Output System was designed. Finally the whole system, including input and control, were integrated on a PCB. No tests have yet been done, due to financing issues. All designs are based on literature research that has been described at the start of each chapter.