Registering a sheet in a differential drive registration system by identifying observed state values corresponding to a sheet handled by the differential drive registration system. The method also including determining an error vector, wherein the error vector is defined by a difference between the observed state values and reference state values for the sheet. Control input values are also determined based on the error vector, a set of control parameters, and the observed state values. The control input values being determined such that there is a linear differential relationship between the observed state values and the control input values. Additionally the method includes generating drive wheel velocities in the differential drive registration system based on the control input values. The identifying and determining steps being repeated for the sheet in a closed-loop process such that the observed state values substantially track the reference state values.