Cubesat Attitude simulator | Balancing Algorithm

Hello, while following the russia ukraine war update , I am working on building cube sat attitude control simulator.

I am depending on a guide from folks in Faculty of the Virginia Polytechnic Institute and State University

The work is divided into to main section :

1. Balancing Stage : which is responsible for aligning the cube sat centre of mass with the centre of rotation as a first step in simulating the space environment.
2. Control Stage: Which includes flywheels configuration and control algorithms.

My simulator is based on Beagle bone with custom Linux os which is responsible for controlling the 2 linear motors (mass movement units ) depending on the IMU readings.

I successfully finished simulating the Balancing stage using Matlab, The guide recommends using The least-squares method to get the best fit for IMU reading of different origin alignment iterations.

I am looking for an alternative for the The least-squares method to get faster alignment.

So any contribution will be mostly appreciated .

Thanks