System and Method for Reducing Velocity Errors in a Movable Image Carrier of an Image Forming Device

Systems and methods apply active feedback via a repetitive controller (522) to compensate for periodic disturbances applied by recording media to a movable image carrier having a controlled velocity. The compensation parameters of the repetitive controller (522), once the error signal of the feedback converges to zero, can be stored with one or more characteristics of the print job or the recording media used for the print job. When other print jobs are received having the same one or more characteristics, the stored, converged compensation parameters can be retrieved, reducing the time to convergence of the systems and methods.