A simple observer and controller has been formulated for a low bandwidth yaw attitude control loop on a synchronous orbit momentum bias spacecraft. Operation of the system is entirely autonomous, with the only external reference required being a measurement of the spacecraft roll attitude. Low-level torque actuation is provided by a single magnetic coil that is mounted in the spacecraft body at an arbitrary orientation in the roll/yaw plane. This control system design provides much better pointing accuracy and rate stability for a given bias momentum than previous techniques. Simulated performance during a magnetic storm is presented for a Vee-Wheel momentum bias configuration. The properties of the geomagnetic field at synchronous altitude that are pertinent to spacecraft attitude control system design are described in the Appendix.