A hybrid control scheme for a copier paperpath

Presents a hybrid control approach for a copier paperpath. The paperpath transports sheets from the feeder to the image transfer section. At arrival time, every sheet must synchronize with its image on the photoreceptor belt. A non-cooperative hybrid control scheme that controls intersheet spacings is proposed. The controller switches between different modes to satisfy all the system constraints. Cooperation, which enhances performance, is then introduced for a simplified system model, based on the notion of controllable regions. Simulations illustrate both strategies.