A system and method of determining paper system position and velocity are provided. The method includes receiving a first data triplet at a first time. The first data triplet includes data related to a first coarse digital position, a first channel X analog voltage and a first channel Y analog voltage. The method also includes storing the first time and the first data triplet. The method further includes receiving a second data triplet at a second time. The second data triplet includes data related to a second digital position, a second X analog voltage and a second Y analog voltage. The method also includes evaluating a control loop associated with controlling paper position and velocity. Evaluating the control loop includes determining a velocity of the paper based on the first data triplet, the second data triplet, the first time and the second time.