A control system of a spacecraft for controlling two or more sets of collinear control moment gyroscopes (CMGs) comprises an attitude control system. The attitude control system is configured to receive a command to adjust an orientation of the spacecraft, determine an offset for a momentum disk for each of the two or more sets of CMGs that maximizes torque, determine a momentum needed from the two or more sets of CMGs to adjust the orientation of the spacecraft, and calculate a total torque needed by taking the derivative of the momentum. The control system further comprises a momentum actuator control processor coupled to the attitude control system, the momentum actuator control processor configured to calculate a required gimbal movement for each of the CMGs in each of the two or more sets of collinear CMGs from total torque.