Abstract: This paper presents a design study and literature synthesis of gimbaled nozzle Thrust Vector Control (TVC) applied to Solid Rocket Motors (SRMs). Starting from first principles, the study derives the equations of motion for a rocket vehicle with a two-degree-of-freedom (2-DOF) gimbal actuator, develops a state-space representation of the coupled vehicle-actuator system, and synthesises a PID control law via pole-placement.