diff --git a/src/TSID/tests/CMakeLists.txt b/src/TSID/tests/CMakeLists.txt
index b936c96183..5fdeb0530c 100644
--- a/src/TSID/tests/CMakeLists.txt
+++ b/src/TSID/tests/CMakeLists.txt
@@ -2,6 +2,11 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
+add_bipedal_test(
+  NAME SO3TaskTSID
+  SOURCES SO3TaskTest.cpp
+  LINKS BipedalLocomotion::TSID BipedalLocomotion::ManifConversions)
+
 add_bipedal_test(
   NAME SE3TaskTSID
   SOURCES SE3TaskTest.cpp
diff --git a/src/TSID/tests/SO3TaskTest.cpp b/src/TSID/tests/SO3TaskTest.cpp
new file mode 100644
index 0000000000..8b683d82d9
--- /dev/null
+++ b/src/TSID/tests/SO3TaskTest.cpp
@@ -0,0 +1,137 @@
+/**
+ * @file SO3TaskTest.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+// Catch2
+#include <catch2/catch.hpp>
+
+// BipedalLocomotion
+#include <BipedalLocomotion/Conversions/ManifConversions.h>
+#include <BipedalLocomotion/ParametersHandler/StdImplementation.h>
+#include <BipedalLocomotion/System/VariablesHandler.h>
+#include <BipedalLocomotion/TSID/SO3Task.h>
+
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/Model/ModelTestUtils.h>
+
+using namespace BipedalLocomotion::ParametersHandler;
+using namespace BipedalLocomotion::System;
+using namespace BipedalLocomotion::TSID;
+
+TEST_CASE("SO3 Task")
+{
+    constexpr double kp = 1.0;
+    constexpr double kd = 0.5;
+    const std::string robotAcceleration = "robotAcceleration";
+
+    auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
+    auto parameterHandler = std::make_shared<StdImplementation>();
+
+    parameterHandler->setParameter("robot_acceleration_variable_name", robotAcceleration);
+
+    parameterHandler->setParameter("kp_angular", kp);
+    parameterHandler->setParameter("kd_angular", kd);
+
+    // set the velocity representation
+    REQUIRE(kinDyn->setFrameVelocityRepresentation(
+        iDynTree::FrameVelocityRepresentation::MIXED_REPRESENTATION));
+
+    for (std::size_t numberOfJoints = 6; numberOfJoints < 200; numberOfJoints += 15)
+    {
+        DYNAMIC_SECTION("Model with " << numberOfJoints << " joints")
+        {
+            // create the model
+            const iDynTree::Model model = iDynTree::getRandomModel(numberOfJoints);
+            REQUIRE(kinDyn->loadRobotModel(model));
+
+            const auto worldBasePos = iDynTree::getRandomTransform();
+            const auto baseVel = iDynTree::getRandomTwist();
+            iDynTree::VectorDynSize jointsPos(model.getNrOfDOFs());
+            iDynTree::VectorDynSize jointsVel(model.getNrOfDOFs());
+            iDynTree::Vector3 gravity;
+
+            for (auto& joint : jointsPos)
+            {
+                joint = iDynTree::getRandomDouble();
+            }
+
+            for (auto& joint : jointsVel)
+            {
+                joint = iDynTree::getRandomDouble();
+            }
+
+            for (auto& element : gravity)
+            {
+                element = iDynTree::getRandomDouble();
+            }
+
+            REQUIRE(kinDyn->setRobotState(worldBasePos, jointsPos, baseVel, jointsVel, gravity));
+
+            // Instantiate the handler
+            VariablesHandler variablesHandler;
+            variablesHandler.addVariable("dummy1", 10);
+            variablesHandler.addVariable(robotAcceleration, model.getNrOfDOFs() + 6);
+            variablesHandler.addVariable("dummy2", 15);
+
+            const std::string controlledFrame = model.getFrameName(numberOfJoints);
+            parameterHandler->setParameter("frame_name", controlledFrame);
+
+            SO3Task task;
+            REQUIRE(task.setKinDyn(kinDyn));
+            REQUIRE(task.initialize(parameterHandler));
+            REQUIRE(task.setVariablesHandler(variablesHandler));
+
+            const auto desiredOrientation = manif::SO3d::Random();
+            const auto desiredVelocity = manif::SO3d::Tangent::Random();
+            const auto desiredAcceleration = manif::SO3d::Tangent::Random();
+
+            REQUIRE(task.setSetPoint(desiredOrientation, desiredVelocity, desiredAcceleration));
+
+            REQUIRE(task.update());
+            REQUIRE(task.isValid());
+
+            // get A and b
+            Eigen::Ref<const Eigen::MatrixXd> A = task.getA();
+            Eigen::Ref<const Eigen::VectorXd> b = task.getB();
+
+            // check the matrix A
+            REQUIRE(A.middleCols(variablesHandler.getVariable("dummy1").offset,
+                                 variablesHandler.getVariable("dummy1").size)
+                        .isZero());
+
+            REQUIRE(A.middleCols(variablesHandler.getVariable("dummy2").offset,
+                                 variablesHandler.getVariable("dummy2").size)
+                        .isZero());
+
+            Eigen::MatrixXd jacobian(6, model.getNrOfDOFs() + 6);
+            REQUIRE(kinDyn->getFrameFreeFloatingJacobian(controlledFrame, jacobian));
+
+            REQUIRE(A.middleCols(variablesHandler.getVariable(robotAcceleration).offset,
+                                 variablesHandler.getVariable(robotAcceleration).size)
+                        .isApprox(jacobian.bottomRows<3>()));
+
+            // check the vector b
+            LieGroupControllers::ProportionalDerivativeControllerSO3d SO3Controller;
+            SO3Controller.setGains({kp, kd});
+
+            SO3Controller.setFeedForward(desiredAcceleration);
+            SO3Controller.setDesiredState({desiredOrientation, desiredVelocity});
+
+            SO3Controller.setState(
+                {BipedalLocomotion::Conversions::toManifRot(
+                     kinDyn->getWorldTransform(controlledFrame).getRotation()),
+                 iDynTree::toEigen(kinDyn->getFrameVel(controlledFrame).getAngularVec3())});
+
+            SO3Controller.computeControlLaw();
+
+            Eigen::Vector3d expectedB;
+            expectedB = -iDynTree::toEigen(kinDyn->getFrameBiasAcc(controlledFrame)).tail<3>()
+                        + SO3Controller.getControl().coeffs();
+
+            REQUIRE(b.isApprox(expectedB));
+        }
+    }
+}