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The rigid body attitude stabilization problem with constrained control inputs has been studied by many researchers. However, if perfect eigen-axis rotation in rest to-rest maneuvers is also desirable, the control design problem becomes more challenging and, to the best of the authors’ knowledge, has not yet been addressed. In this letter, an anti-windup compensation approach to this problem is developed. A nonlinear dynamic inversion control is used to obtain satisfactory unconstrained performance and this is supplemented by an anti-windup compensator when constraints are encountered. The compensator provides global L2 performance under reasonable conditions. A highlight of the approach is that the anti-windup compensator can have a nonlinear structure, giving flexibility in the choice of its parameters. Simulation results demonstrate the effectiveness of the proposed scheme as well as the performance improvement achieved using a compensator with state-dependent parameters.