A closed loop feedback method that continuously adjusts the lateral and skew position of a sheet includes a first sensor that is used to measure lateral sheet edge position. A second sensor measures the lateral sheet edge position at a certain distance from the first sensor. Sheet skew values can thus be calculated. Lateral and skew controllers provide outputs to lateral and skew actuators, respectively, to adjust the sheet position. A different method of registering sheets laterally and in skew enables active sheet deskew without translating the sheet in the cross-process direction. A sensor carriage position is controlled to find the sheet edge after which deskew control can start. The average value of the carriage position can then be fed in a feedforward manner to move the image location to match the average paper position. This achieves good average lateral registration and active skew control at a reduced cost.