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Experimental satellite attitude simulators have long been used to test and analyze control algorithms in order to drive down risk before implementation on an opera-tional satellite. Ideally, the dynamic response of a terrestrial-based experimental satellite attitude simulator would be similar to that of an on-orbit satellite. Un-fortunately, gravitational disturbance torques and poorly characterized moments of inertia introduce uncertainty into the system dynamics leading to questionable atti-tude control algorithm experimental results. This research consists of three distinct, but related contributions to the field of developing robust satellite attitude simula-tors. In the first part of this research, existing approaches to estimate mass moments and products of inertia are evaluated followed by a proposition and evaluation of a new approach that increases both the accuracy and precision of these estimates usin