embodiments according to the present disclosure provide methods and systems of determining nip velocity profiles in a medium registration system , including parameterizing a set of equations into a set of standard parameters , the set of equations representing an analytic form of the nip velocity profiles ; determining values of the parameters through an iteration process ; and determining the nip velocity profiles based on the determined values of the parameters . the embodiments separately provide systems and methods of simulating a medium registration process , including inputting an error parameter to a velocity nominal profile of a nip in a medium registration system ; determining an output value of the velocity nominal profile ; and using the output value in a regression algorithm to obtain a simulated relationship , the simulated relationship indicative of a manner in which the error parameter influences the output value . the embodiments separately provide systems and methods of determining an angular velocity of a medium relative to a nip in a medium registration system , including determining a path of the nip on the medium ; and determining the angular velocity as a function of a position of the nip in the path . the embodiments separately provide systems and methods of controlling nips of a medium registration system , including wagging a medium relative to a center line of two nips of the medium registration system ; and then unwagging the medium relative to the center line of the two nips .