GAIN-SCHEDULED FEEDBACK DOCUMENT HANDLING CONTROL SYSTEM

PROBLEM TO BE SOLVED: To provide a system and a method for improving alignment of misaligned paper. SOLUTION: The method and system for carrying out paper alignment receives paper by a device having a plurality of drive rolls each operated with an associated angular velocity, identifies a state vector including a plurality of state variables, determines an error space state feedback value based on the difference between each state variable and a corresponding reference state variable based on a desired paper locus, determines a control input variable value based on the error space feedback value and one or more gains, and determines a motor control signal for a motor for each drive roll based on the control input variable value and the state variable. Each motor control signal imparts a desired angular velocity for at least one drive roll, and an identification process and each determining process can be repeatedly carried out to align the paper to a desired locus. COPYRIGHT: (C)2008,JPO&INPIT