Spacecraft drag-free control is an effective way to make satellite orbit only shaped by gravity and to achieve accurate and quiet alignment of the spacecraft axes to their reference. Essential measurements come from fine accelerometers. Exploiting the experience of the GOCE satellite drag-free and attitude control, the paper provides an integrated modelling and control design procedure which encompasses accelerometer and spacecraft control. Essential to this framework is the stochastic

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... and prediction of the unknown disturbance class to be counteracted. Stochastic modelling of disturbance is the key asset of the Embedded Model Control methodology. Among other advantages it allows robust decoupling of state prediction and control for complex dynamic systems. 2