A four volume report was prepared in order to compile, describe, and apply the available nonlinear analysis and design techniques for space vehicle attitude control systems and to outline additional areas of future effort to improve present analysis and design procedures. Each of the four volumes is relatively independent of the others and treats a distinct phase of the study program. However, they are related within the scope of the overall study effort. Volume II treats in detail the principal techniques for the analysis of nonlinear control systems and shows the application of these techniques to specific attitude control system problems. (Author).