Patent ID: 8376357

Claim:
A method of registering sheets moved along a transport path in a differential drive registration system of a media handling assembly, the method comprising: identifying observed state values corresponding to a sheet handled by the differential drive registration system, determining an error vector, wherein the error vector is defined by a difference between the observed state values and reference state values for the sheet, wherein control input values are determined based on the error vector, a set of control parameters, and the observed state values, the control input values being determined such that there is a linear differential relationship between the observed state values and the control input values; and generating drive wheel velocities in the differential drive registration system based on the control input values, wherein the identifying and determining steps being repeated for the sheet in a closed-loop process such that the observed state values substantially track the reference state values, wherein the control input values are determined by a stabilizing linear controller that stabilizes the error vector.