A pump has a plurality of pumping elements, each being independently responsive to an actuation signal from a controller. The controller is programmed to maintain a desired pressure at the pump discharge, monitor the fluid pressure at the pump discharge, compare the fluid pressure with the desired fluid pressure to determine a pressure error, provide commands to sequentially actuate the pumping elements when the pressure error is within a threshold range, and provide commands to actuate more than one of the plurality of pumping elements simultaneously, such that more than one pumped amounts of fluid are delivered simultaneously at the pump discharge, when the pressure error droops outside of the threshold range.