OK, I think I get it, and it is about what I expected from an encoder 
with interpolation.
It isn't exactly a velocity lag, it is an ACELLERATION lag!  I did 
another plot at
expanded time resolution, http://pico-systems.com/images/vel.png
and it looks like there is a real lag in responding to changes in velocity.

Does anybody agree that is what I'm seeing here?

Thanks,

Jon

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