Motion quality of a transfix nip by media thickness and/or skew feedforward to nip motor torque

Embodiments described herein are directed to a system for reducing velocity transits in a printing system caused by media entering into a transfer nip. The system includes: an imaging drum, a variable speed motor, a transfix roll, a transfix nip, a media transport, a thickness sensor, a skew sensor, a media sensor, a switching means and a controller. Media thickness and/or media skew measurements are used in a feedforward control scheme to increase the imaging drum torque when the media sensor detects a media immediately before it is engaged by the transfer nip.