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The control system assumes the following form  \\[ \\begin{cases} \\dot\\rho & = G(\\rho)\\omega,\\\\ \\dot\\omega & = F(\\omega)\\omega+ J^{-1}u,\\end{cases} \\]  where \\(\\rho= (\\rho_1, \\rho_2, \\rho_3)\\) are Cayley parameters of the special orthogonal group, \\(\\omega= (\\omega_1, \\omega_2, \\omega_3)\\) denotes the vector of angular velocities, \\(u= (u_1, u_2, u_3)\\) stands for the control, and matrices \\(G\\), \\(F\\), \\(J\\) are given. When defining, for suitable matrices \\(C\\), \\(D\\), a performance output  \\[ z= C{\\rho\\brack \\omega}+ Du, \\]  the control problem addressed in the paper is formulated as follows:   For any bounded set \\(\\Delta\\subset R^6\\) containing the origin, and any positive number \\(\\gamma\\), find a static feedback \\(u= k(\\rho,\\omega)\\) such that the closed loop system is asymptotically stable within the region \\(\\Delta\\), and for every initial state \\((\\rho_0, \\omega_0)\\in\\Delta\\) the performance index remains bounded by \\(\\gamma\\), i.e.  \\[ J(\\rho_0, \\omega_0, u(\\cdot))= \\int^\\infty_0 \\| z(t)\\|^2 dt\\leq\\gamma. \\]  The main result (Theorem 5.1) provides sufficient conditions for the solvability of this problem. Computational techniques for obtaining the best suboptimal controller require solving a sequence of linear matrix 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