  We present the technology and control methods developed for the pointing
system of the SPIDER experiment. SPIDER is a balloon-borne polarimeter designed
to detect the imprint of primordial gravitational waves in the polarization of
the Cosmic Microwave Background radiation. We describe the two main components
of the telescope's azimuth drive: the reaction wheel and the motorized pivot. A
13 kHz PI control loop runs on a digital signal processor, with feedback from
fibre optic rate gyroscopes. This system can control azimuthal speed with <
0.02 deg/s RMS error. To control elevation, SPIDER uses stepper-motor-driven
linear actuators to rotate the cryostat, which houses the optical instruments,
relative to the outer frame. With the velocity in each axis controlled in this
way, higher-level control loops on the onboard flight computers can implement
the pointing and scanning observation modes required for the experiment. We
have accomplished the non-trivial task of scanning a 5000 lb payload
sinusoidally in azimuth at a peak acceleration of 0.8 deg/s$^2$, and a peak
speed of 6 deg/s. We can do so while reliably achieving sub-arcminute pointing
control accuracy.
