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The three-axis attitude control systems are activated in pulse mode. Consequently, a modulation of the torque command is compelling in order to avoid high nonlinear control action. This work considers the Pulse-Width Pulse-Frequency (PWPF) modulator which is composed of a Schmidt trigger, a first-order filter, and a feedback loop. PWPF modulator holds several advantages over classical bang-bang controllers such as close to linear operation, high accuracy, and reduced propellant consumption. The Linear Gaussian Quadratic (LQG) technique is used to synthesize the control law during stabilization mode and the modulator is used to modulate the continuous control signal to discrete one. Numerical simulations are used to analyze the performance of the attitude control. 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