diff --git a/axis-ptz-controller/axis_ptz_controller.py b/axis-ptz-controller/axis_ptz_controller.py
index b84d2d0..0e70fc8 100644
--- a/axis-ptz-controller/axis_ptz_controller.py
+++ b/axis-ptz-controller/axis_ptz_controller.py
@@ -585,16 +585,16 @@ def _track_object(self, time_since_last_update: float) -> None:
         )
 
         # Compute slew rate differences
-        self.rho_c_gain = self.pan_gain * self.delta_rho 
-        self.tau_c_gain = self.tilt_gain * self.delta_tau
+        self.rho_c_gain = self.pan_gain * self.delta_rho * abs(self.object.rho_derivative)
+        self.tau_c_gain = self.tilt_gain * self.delta_tau * abs(self.object.tau_derivative)
 
         # Compute position and velocity in the camera fixed (rst)
         # coordinate system of the object relative to the tripod at
         # time zero after pointing the camera at the object
 
         # Update camera pan and tilt rate
-        self.rho_dot_c = self.object.rho_rate + self.rho_c_gain
-        self.tau_dot_c = self.object.tau_rate + self.tau_c_gain
+        self.rho_dot_c = self.object.rho_rate + self.rho_c_gain #- (self.object.rho_derivative ** 2)
+        self.tau_dot_c = self.object.tau_rate + self.tau_c_gain #- (self.object.tau_derivative ** 2)
 
         # Get, or compute and set focus, command camera pan and tilt
         # rates, and begin capturing images, if needed
diff --git a/axis-ptz-controller/camera.py b/axis-ptz-controller/camera.py
index fb35bbd..95224a3 100644
--- a/axis-ptz-controller/camera.py
+++ b/axis-ptz-controller/camera.py
@@ -386,6 +386,7 @@ def slew_camera(self, rho_target: float, tau_target: float) -> None:
             )
             / (self.tilt_rate_max),
         )
+        duration = duration + 0.5
         logging.info(f"Sleeping: {duration} [s]")
         sleep(duration)
 
diff --git a/axis-ptz-controller/object.py b/axis-ptz-controller/object.py
index 9aca436..3cc3bb0 100644
--- a/axis-ptz-controller/object.py
+++ b/axis-ptz-controller/object.py
@@ -64,6 +64,8 @@ def __init__(
 
         # Distance between the object and the tripod at time one
         self.distance_to_tripod3d = 0.0  # [m]
+        self.rho_derivative = 0.0  # [deg/s]
+        self.tau_derivative = 0.0  # [deg/s]
 
         # Position and velocity in the geocentric (XYZ) coordinate
         # system of the object relative to the tripod at time zero
@@ -91,6 +93,7 @@ def __init__(
         self.uvw_point_now_relative_to_tripod = np.zeros((3,))
         self.uvw_point_lead_relative_to_tripod = np.zeros((3,))
         self.location_update_time = time()
+        self.uninitialized = True
 
     def _config_log(self) -> None:
         """Print to Logging the object configuration"""
@@ -262,9 +265,15 @@ def recompute_location(self) -> None:
 
         time_delta = time() - self.location_update_time
         self.location_update_time = time()
-        self.rho_derivative = (self.rho - self.rho_lead) / time_delta
-        self.tau_derivative = (self.tau - self.tau_lead) / time_delta
 
+        if not self.uninitialized:
+            self.rho_derivative = (self.rho - self.rho_lead) / time_delta
+            self.tau_derivative = (self.tau - self.tau_lead) / time_delta
+
+        if self.rho_derivative > 100:
+            self.rho_derivative = 100
+        if self.tau_derivative > 100:
+            self.tau_derivative = 100
         self.rho = self.rho_lead
         self.tau = self.tau_lead
 
@@ -315,7 +324,7 @@ def recompute_location(self) -> None:
 
         self.rho_rate = math.degrees(-omega[2])
         self.tau_rate = math.degrees(omega[0])
-
+        self.uninitialized = False
 
         # Compute object slew rate
         # omega = (