Pump startup algorithms and related systems and methods

An infusion pump configured to reach a steady state, target delivery rate with minimal delay, the infusion pump comprising:

• a pumping mechanism including at least one sensor and a pump motor;
• and
• a pump control subsystem configured to control operation of the pumping mechanism, the pump control subsystem including:
• a processor,
• a memory, and
• a startup module configured to:
• drive the pump motor at a steady state accelerated motor rate until a force is sensed by the at least one sensor,
• drive the pump motor at a gradual, decreasing transitional rate according to a function of the force sensed by the at least one sensor, wherein the transitional rate is an inverse function of the force sensed by the at least one sensor,
• determine when the force sensed by the at least one sensor reaches a magnitude required to overcome forces opposing medicament delivery, and
• upon determining that the force sensed by the at least one sensor has reached a magnitude required to overcome forces opposing medicament delivery, drive the pump motor at a steady state rate.