Intersheet spacing control and controllability of a copier paper path

This paper presents a control and controllability approach for a copier paper path. The paper path transports sheets from the feeder to the image transfer section. At arrival time, every sheet must synchronize with the photoreceptor. The hybrid character of the system makes classical control approaches difficult. A control scheme that controls intersheet spacings is proposed. A controllability analysis illustrates the influence of system geometry and actuators on system controllability for simplified system dynamics. Combined with a disturbance model, this can lead to an optimal paper path design strategy. An experimental setup was built for disturbance identification and control scheme evaluation.