For the control scheme of the Lander JR rocket, a 3DOF convex optimization trajectory generation algorithm will be used to generate an optimal reference trajectory for which the rocket can follow. Deviations from this trajectory are correcting using an LQR controller which determines a reference force command to be followed. This reference force is converted to a reference attitude which is tracked using a quaternion attitude controller. Further improvements to the control scheme could include more disturbances, such as drag, in the trajectory generation algorithm, as well as a high fidelity 6DOF model. Inner loop controllers for the gimbal and the engine must be developed as well before fully accepting the control scheme.