Abstract
This paper gives the parameterization of all controllers achieving the comprehensive stability which is the stability required both in regulation problems and in servo problems of linear systems. The parameters in the parameterization of comprehensive stabilizing controllers are analyzed. Further, it is shown that subject to some conditions, 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 indicates that the plant does not have transmission zeros capable of canceling the poles of the Internal-Model, as was well understood.
