Media registration systems and methods

Embodiments herein measure current/voltage levels of a drive motor when media is in contact with a drive roller so as to determine the drive force imparted by the drive rollers on the media. Then, embodiments herein can reference the predetermined relationship between roller drive force and media/drive roller velocity ratios to determine a difference between the velocity of the drive roller and the velocity the media based on the drive force. Once this velocity difference is determined, embodiments herein can change the current/voltage levels being applied to the drive motor if the actual velocity of the media is different than the intended velocity of the media so as to correct the velocity of the media. Thus, when referencing the predetermined relationship, embodiments herein produce a velocity ratio correction factor. This velocity ratio correction factor can be applied continuously during any velocity profile of the drive motor, or it can be used to calculate the accumulated error in sheet position and then to apply a correction near the end of the velocity profile.