At constant speed, you are witnessing marginal changes in speed as a result of the pump continuously adjusting itself to maintain a constant speed despite changing loads and conditions. Closed loop refers to the fact that we are controlling the pump at fixed speeds while monitoring other criteria.
The changes in pulsing are a result of the pump having fixed acceleration and fixed go-to speeds, but in between pulses sometimes the RPM's don't drop as fast as other times resulting in periodic missed pulses. It's software, and incredibly complicated software at that.
-Tim