Methods and systems are provided for controlling attitude of a vehicle using a reaction wheel onboard the vehicle. One exemplary method involves receiving a torque command for adjusting the attitude of the vehicle using the reaction wheel, determining a phase error of the reaction wheel based at least in part on the torque command, and determining a motor torque command for the reaction wheel based on the phase error. The motor torque command is provided to an electric motor of the reaction wheel to apply a corresponding torque to the rotor of the reaction wheel. The relationship between the magnitude of the motor torque command and the magnitude of the phase error is nonlinear. In exemplary embodiments, the magnitude of the motor torque command exceeds the stiction torque, at least instantaneously, when the reaction wheel has fallen behind an expected position by more than a threshold amount.