A system and method control a consistent color quality of overlay colors and single separations of color. The method determines a first error for a first separation of a first color, wherein the first error has a first sign. The method identifies a second error for a second separation of a second color, wherein the second color is a different color than the first color, wherein the second error is based on an actual density value for toner particles printed transferred from the second separation, wherein the second error has a second sign. The method compares the first sign of the first error and the second sign of the second error. The method converges the actual density value of the second separation to a target position when the first sign is a different sign than the second sign.