A system for delivery of medical fluid to a patient which includes a pump system and a drive system. The pump system has at least three chambers, where each chamber includes an inlet for fluid intake and an outlet for fluid expulsion, a common outlet channel in fluid communication with the outlet of each chamber, and at least three pistons, where each piston is slidably disposed within one of the chambers. The drive system includes a cam shaft having at least three cam lobes, each having a profile, and at least three cam lobe followers, each in operative connection with one of the cam lobes and adapted to be placed in operative connection with a respective piston. The profile of each of the cam lobes is adapted to provide a transient increase or spike in calculated theoretical output of the pump system to reduce periodic variation in measured output thereof.