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, 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 applied to a plunger of the pumping mechanism is sensed by the at least one sensor to overcome opposing forces, characterized in that the startup module is further configured to: 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 the magnitude required to overcome forces opposing medicament delivery, drive the pump motor at a steady state rate. a pumping mechanism including at least one sensor and a pump motor; and a pump control subsystem configured to control operation of the pumping, 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 applied to a plunger of the pumping mechanism is sensed by the at least one sensor to overcome opposing forces, characterized in that the startup module is further configured to: 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 the magnitude required to overcome forces opposing medicament delivery, drive the pump motor at a steady state rate. a processor, a memory, and a startup module configured to: drive the pump motor at a steady state accelerated motor rate until a force applied to a plunger of the pumping mechanism is sensed by the at least one sensor to overcome opposing forces, characterized in that the startup module is further configured to: 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 the magnitude required to overcome forces opposing medicament delivery, drive the pump motor at a steady state rate. drive the pump motor at a steady state accelerated motor rate until a force applied to a plunger of the pumping mechanism is sensed by the at least one sensor to overcome opposing forces, characterized in that the startup module is further configured to: 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 the magnitude required to overcome forces opposing medicament delivery, drive the pump motor at a steady state rate.