ROBUST PIECEWISE LINEAR SHEET CONTROL IN A PRINTER PAPER PATH

This paper presents a control design approach for robust sheet control in a printer paper path. The overall design question is formulated in terms of a hierarchical control set-up with a low level motor control part and a high level sheet control part. The sheet dynamics, subject to disturbances and parameter uncertainties, are captured in the piecewise linear modeling formalism. Based on this model, the control design yields robust sheet feedback controllers and a closed-loop system capable of rejecting disturbances up to a prescribed level. The effectiveness of the control design is shown on an experimental paper path setup.