Magnetic attitude control systems have been widely used for low earth orbit satellites since the beginning of space era because of their reliability, lightweight, low cost and energy efficiency. Recently, small satellites are increasingly attractive. Magnetic controllers meet the limitations of small satellites and are considered as favorable candidates for small satellites. In this paper, the satellite magnetic attitude control algorithms, including algorithms for reaction wheel startup and unloading, passive and active magnetic attitude control algorithms, are covered. The algorithms herein are especially for small satellites. As for active magnetic attitude control algorithms, magnetic damping algorithms, the algorithms combining magnetic control with spin, constant speed flywheel and gravity gradient torque, and purely magnetic control algorithms are covered. Finally, the research is summarized.