This paper presents an application of the model predictive control to flexible spacecraft attitude maneuver. The objective of the study is to demonstrate an experimental feasibility of optimal attitude controllers suppressing the flexible appendage vibration under the actuator saturation. For the purpose, we study two approaches in the model predictive control framework. One is to use the frequency-shaped linear quadratic cost with finite horizon, and the other is to apply the robust control theory. Through ground experiments using a single axis air bearing table, as well as numerical studies for ETS-VIII spacecraft, their abilities are shown and compared.