An optimal control architecture based on H norm is presented for the rejection of loading disturbance in a class of image transfer belt modeled as a four-rollers-belt system. The proposed H controller acts on the actuating torque provided by a direct-current motor and optimizes all variables concerning quality of the original image formation. Simulation results responding to a periodic loading disturbance with comparison of the insufficiency and performance limitation in conventional speed control ascertain its effectiveness. It is shown that the image transfer belt system is successfully maintained in the satisfying condition under the proposed control architecture when loading disturbance enters.

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