Space-based direct exoplanetary imaging using an external occulter requires formation flight of a spacecraft constellation. Here we are interested in the position control of a single occulter aligned with the telescope and target star. We consider the nonlinear relative motion spacecraft dynamics in the circularly restricted three-body model in the rotating Sun-Earth frame and generation of the unstable reference trajectory of the occulter in this corotating frame. We implement a linear quadratic regulator for position control of the occulter around a nominal trajectory, and implement an extended Kalman filter for state reconstruction of the occulter relative to the telescope using a least squares fit against the expected out-of-band leakage from the star based on the occulter shape. We provide simulation results of the integrated control and estimation scheme in the presence of solar radiation pressure.