Recently, the control technology test system using the Hardware-In-the-Loop Simulator (HILS) to ensure reliability of spacecraft attitude configurations has received considerable attention. In this paper, we present solid experiments to validate spacecraft control algorithms using an air-bearing attitude control simulator. The HILS consists of three momentum wheels and eight cold gas thrusters for three-axis attitude actuations. An adaptive controller is utilized to estimate mass properties such as the mass distribution and moment of inertia of the system before any performance test of the HILS is conducted. A Proportional Integral Derivative (PID) controller, a bang-bang and a Pulse-Width and Pulse-Frequency (PWPF) modulator are applied to the actuator's operation. In addition, spacecraft attitude controllers employing the theories of state feedback design, a Lyapunov-based adaptive controller and the Modified Rodrigues Parameters (MRPs) concept describing spacecraft attitude motion are tested by HILS. Moreover, tracking control laws are simultaneously implemented to HILS by utilizing both momentum wheels and thrusters. All controllers are implemented in the software, based on the simulator's using the PC 104, which is an embedded computer (on-board PC) communicating with a host PC and attitude sensors. As the results reveal, the simulation successfully demonstrates the capability of the HILS, and the experiments appropriately validate the numerous spacecraft attitude control algorithms for spacecraft with momentum wheels and thrusters.