This paper is dealing with the control of a rigid, the nonlinear feedback control derived by using the approaches that have been developed recently and which are based on the port controlled hamiltonian structure is compared to the one derived by the methods based on the eigenstructure that have been proposed by the author in previous work. The aim is to emphasize that, the first approach leads, in some cases , to the solutions quite readily by shaping the stored energy of the system, and the second approach simply leads also to the solutions, in some other cases, through the desired analytical solutions of the body angular velocities. Moreover, the results have been used to derive the control laws of a launcher in the phase outside the atmosphere. This paper completes the related one presented by the authors at the IFAC symposium in aerospace control.