A method of stabilizing a balanced component assembly (1, 110) having a plurality of torque generators (410, 420, 430), the method comprising: (a) using an angular motion sensing unit measuring and providing angular rates (350a, 350c, 350e) and angular orientation of the balanced component assembly (1, 110) about three substantially mutually orthogonal axes, wherein such angular rates (350a, 350c, 350e) and angular orientations include the angular rates and motions generated by the torque generators and that which is produced by operator input and external disturbances; (b) subtracting torques applied by the torque generators (420, 430) from a total torque signal derived from the measured angular rates (350a, 350c) and measured orientation motions (350b, 350d) to provide a net external torque (333, 343); (c) providing a physical model (331, 341) comprising desired angular rates (350a, 350c, 350e) and angular orientation for the three substantially mutually orthogonal axes wherein the model is responsive to the net external torque; (d) comparing using a signal processor the measured angular rates (350a, 350c, 350e) and angular orientation to the modeled angular rates (350a, 350c, 350e) and angular orientation, respectively, for each of the three substantially mutually orthogonal axes, using a separate algorithm for each of the substantially mutually orthogonal axes to create a comparison for each of the substantially mutually orthogonal axes; (e) multiplying the angular rate difference by a first scale factor to form a scaled angular rate difference, and multiplying the angular orientation difference by a second scaled factor to form a scaled angular orientation difference; (f) generating a supplemental torque signal (335, 345) for each of the substantially mutually orthogonal axes by summing, using a signal processor, the scaled angular rate difference and the scaled orientation rate difference; (g) applying each of the supplemental torque signals (335, 345) to a respective torque generator (410, 420, 430); (h) repeating step (a) through (g) to form a feedback loop. (a) using an angular motion sensing unit measuring and providing angular rates (350a, 350c, 350e) and angular orientation of the balanced component assembly (1, 110) about three substantially mutually orthogonal axes, wherein such angular rates (350a, 350c, 350e) and angular orientations include the angular rates and motions generated by the torque generators and that which is produced by operator input and external disturbances; (b) subtracting torques applied by the torque generators (420, 430) from a total torque signal derived from the measured angular rates (350a, 350c) and measured orientation motions (350b, 350d) to provide a net external torque (333, 343); (c) providing a physical model (331, 341) comprising desired angular rates (350a, 350c, 350e) and angular orientation for the three substantially mutually orthogonal axes wherein the model is responsive to the net external torque; (d) comparing using a signal processor the measured angular rates (350a, 350c, 350e) and angular orientation to the modeled angular rates (350a, 350c, 350e) and angular orientation, respectively, for each of the three substantially mutually orthogonal axes, using a separate algorithm for each of the substantially mutually orthogonal axes to create a comparison for each of the substantially mutually orthogonal axes; (e) multiplying the angular rate difference by a first scale factor to form a scaled angular rate difference, and multiplying the angular orientation difference by a second scaled factor to form a scaled angular orientation difference; (f) generating a supplemental torque signal (335, 345) for each of the substantially mutually orthogonal axes by summing, using a signal processor, the scaled angular rate difference and the scaled orientation rate difference; (g) applying each of the supplemental torque signals (335, 345) to a respective torque generator (410, 420, 430); (h) repeating step (a) through (g) to form a feedback loop.