Patent ID: 7712737
Filing Date: 2010-05-11
Classification: B65H

Abstract:
1. A method of performing sheet registration, the method comprising: receiving a sheet by a device having a plurality of drive rolls, wherein each drive roll operates with an associated angular velocity; identifying a state vector, wherein the state vector comprises a plurality of state variables; determining error-space state feedback values based on a difference between each state variable and a corresponding reference state variable based on a desired sheet trajectory; determining control input variable values based on the error-space state feedback values and one or more gains, wherein the one or more gains are based on pseudo-linearized error space state equations; determining a motor control signal for a motor for each drive roll based on the control input variable values and the state variables, wherein each motor control signal imparts a desired angular velocity value for at least one drive roll; and performing the identifying step and each determining step a plurality of times whereby the sheet is registered to the desired trajectory.