Tape transport control with feedback of velocity and tension

A tape transport system, comprising:

• a first tape reel having a first motor, a second tape reel having a second motor, and a tape head;
• circuitry adapted to output one or more signals representing at least one of a tape velocity at a tape head, a tape velocity at the first tape reel, a tape velocity at the second tape reel, and a tape tension;
• circuitry adapted to receive the signals representing the tape velocity at the tape head, first tape reel, and second tape reel, and based on the received signals, generate control signals to be output to the first motor and the second motor to control at least at one of the tape head, the first tape reel, the second tape reel and the tension of the tape, using controller gains that depend on a longitudinal position of the tape, and to implement a system transfer function that is approximately independent of the longitudinal position.

In a tape transport system, a method comprising:

• generating one or more signals representing at least one of a tape velocity at a tape head, a tape velocity at the first tape reel, a tape velocity at the second tape reel, and a tape tension;
• and
• generating control signals to control the tape velocity at least at one of the tape head, the first tape reel, the second tape reel and the tension of the tape, using controller gains that depend on a longitudinal position of the tape, and to implement a system transfer function that is approximately independent of the longitudinal position, based on the signals representing the tape velocity at the tape head, first tape reel, and second tape reel, and on the tape tension.