1. A method of performing sheet registration, the method comprising: identifying output values for a sheet within a reference frame; determining a difference between each output value and a corresponding desired output value; determining input values for the sheet based on at least the differences; determining state feedback values based on information received from one or more sensors; and for each of a plurality of drive rolls: determining a jerk value based on the input values and the state feedback values, determining a desired angular velocity value based on the jerk value, and determining a motor voltage for a motor for the drive roll that tracks an observed angular velocity value for the drive roll to the desired angular velocity value for the drive roll, wherein the jerk values create a linear differential relationship between the input values and the output values, wherein the above-listed steps are performed a plurality of times.