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In this paper, well-developed eigenstructure assignment (ESA) and linear exponential quadratic Gaussian and loop transfer recovery (LEQG/LTR) techniques are originally unified and applied for the design of a spinning type satellite with double gimbals single rotor-control moment gyro (DGSR-CMG). By the combination of both ESA and LEQG/LTR control design methods, the control system can simultaneously provide prescribed stability and overcome some limitations in existence for two design techniques. This paper also derives the algorithms, which can take all the time domain, frequency domain, and robust decoupling design techniques into a unified method. Finally, numerical results show that the proposed method is more robust to disturbance, sensor noise, and parameter variations. In addition, the time-domain responses are also better.