The existence condition of the controller is deduced based on the Lyapunov stability theory. The parametric design algorithm is proposed by utilizing the parametric solution of the generalized Sylvester matrix equation. The controller consists of two parts, a certain convergence rate feedback stabilization controller and a fully parameterized feedforward compensator. The controller is simulated under the flying around task which is about the two spacecrafes based on the T-H equation description. The simulation results show the effectiveness of the proposed control method.