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.