This paper deals with attitude control design for a thruster system which is mainly used as a control system of space vehicles. Attitude controllers are designed based on a simple blowing-down thruster system structure. In order to consider severe time-delay effects of the thruster system during controller design, the control design problem is defined based on the corresponding limit cycle analysis. Optimal roll controllers and optimal pitch/yaw controllers are resulted from co-evolutionary optimum design processes for each flight phase. The control performances are verified by computer simulations.