Abstract: Methods and systems for performing sheet registration are described. A device having a plurality of drive rolls may receive a sheet. Each drive roll may operate with an associated angular acceleration. A state vector, including a plurality of state variables, may be identified. Error-space state feedback values may be determined based on a difference between each state variable and a corresponding reference state variable based on a desired sheet trajectory. Control input variable values may be determined based on the error-space feedback values and one or more gains. A motor control signal for a motor for each drive roll may be determined based on the control input variable values and the state variables. Each motor control signal may impart a desired angular acceleration for at least one drive roll. The identifying step and each determining step may be performed repeatedly to register the sheet to the desired trajectory.

Abstract: A method and system for performing sheet registration are disclosed. Output values for a sheet may be identified within a reference frame. A difference between each output value and a corresponding desired output value may be determined. Input values may be determined based on at least the differences. State feedback values may be determined based on information received from one or more sensors. Acceleration values may be determined for multiple drive rolls based on the input values and the state feedback values. A desired angular velocity for each drive roll may be determined based on the corresponding acceleration value. A motor voltage may be determined for each drive roll that tracks an observed angular velocity value to the desired angular velocity value. The acceleration values may create a linear relationship between the input values and the second derivatives of the output values. The steps may be performed multiple times.

Abstract: A system and method of aligning a sheet in a printing device are disclosed. A sheet may be received by a device having a plurality of drive rolls. Each drive roll may have a velocity associated with it. A desired trajectory may be identified and a current position may be identified for the sheet. The velocity of at least one drive roll may be adjusted based on the current position and the desired trajectory. The determining and adjusting operations may be repeated a plurality of times so that the sheet moves along the desired trajectory.