Parameterization of comprehensive stabilizing controllers and analysis of its structure

This paper gives the parameterization of all controllers achieving the comprehensive stability which is the stability required in both regulation problems and servo problems. It is shown that subject to some condition, the obtained comprehensive stabilizing controllers possess an internal-model-like structure. It is also proven that in such cases the condition of comprehensive stabilizability implicitly implies that the plant does not have transmission zeros at the poles of the internal-model, as was well understood.