Few notes on the subject
the three sets of structures from model layer, that you mention, are not the only ones. Only the most common. In larger application you may find, that you also need repositories and units of work. Also I am not entirely sure whether "collection of domain objects" should be mentioned separately or not.
there is very little if at all written about ui layer in proper literature. I have found only few snippets from Fowler and that's about it. And most of the content is aimed towards desktop software.
controllers do not really do "perform authentication, dispatch requests, render output". Those could be called: external concerns. Your framework/infrastructure supplies the controller with per-processed user input (as arguments or
Requestclass instance) and then controller decides on how to use this input to alter the model layer's state. That's it. The parts that you mentioned before are stuff done in front controller (which is a different from mvc's controller