As a capstone for the engineering degree at Swarthmore college, every student works on a design project in their final semester. That semester, I had also just created an amateur rocketry club at Swarthmore, and I tied my final project very closely to that. I used the club resources to design and build a rocket, and for my design project, I implemented a cold gas reaction control system that allowed for pitch and yaw control.
For more information, please refer to the slides for the final presentation I gave before graduating.
For an even more in-depth report, please read the white paper I submitted along with the project.