An optimal compensator design approach for high precision pointing maneuver of flexible spacecraft by using adaptive structure is investigated in this paper. The Positive Position Feedback controller gains with a stability condition are the main design parameters resulting in the optimal compensator. A parameter optimization technique. is used to find out controller parameters which minimize a desired objective function. The objective function is selected to represent the pointing performance of a flexible space structure. The optimization result is a set of stabilizing feedback gains in conjunction with a set of second order compensators.