You shouldn’t.
That is: shouldn’t support obsolete, legacy browsers and write legacy code for them.
Use current code for current browsers that people today actually use and leave all that stuff to history where it belongs.
What you basically described is a fixed layout.
Header is fixed in place, subheader fixed, sidebar fixed, and footer fixed. This is one of the only ways where you can place all these blocks but still have the primary browser scrollbar effect the content only.
By the way, when viewed in an iPad the footer moves up and down because when one scrolls the content the top of the browser disappears (the address bar area) which changes the dimensions of the actual viewing area (the height) so the footer rides up until one lets go of scrolling (with the fingers) at which point it will move down to the bottom. Another annoying little gremlin that Apple Safari has. Not sure how it works in other tablet browsers as I do not have any others to hand to check it out.