I think that a muzzle velocity less than 3000 fps from a 16 inch barrel is a rather low guesstimate for M193, at least for the more commonly encountered environmental conditions.
The Army specifications for various types of AR 15 rifles and carbines specify a MV of 3250 fps for the M 16 A1 rifle, 3100 fps for the M 16 A2, A3, and A4 rifles, and 2970 for the M 4 carbine.
Of course, the M 16 A1 velocity figure is for M 193, 55 grain ball and a 20" barrel with a 1:12 twist rate. The figures for the M 16 A2,3, and 4 are for a 20" barrel with a faster 1:7 twist rate and M 855 62 grain ball ammo. The figures for the M 4 are for the same 62 grain ammo, and a 14.5" 1:7 twist barrel. And the Army does not specify the environmental conditions (humidity and density altitude) that the velocity figures are based on.
But the muzzle velocity specification for the M 4 carbine shooting the heavier M 855 with a barrel at least 1.5" shorter than civilian carbines is still almost 3000 fps and would certainly be greater than 3000 fps for the 55 grain projectile. The difference in velocity figures for the M 855 62 grain cartridge going from the 20" barrel to the 14.5" barrel given by the Army is 130 fps or about 23.6 fps per inch of barrel loss. The rifleshooter article shows an average velocity loss per inch of 25.7 fps for M 193 and 30.3 fps for M 855, a bit greater loss per inch than the Army figures suggest. I think if you figure a velocity loss of 25 fps per inch loss of barrel length, you will be close for the M 193 round, which would put the muzzle velocity somewhere around 3065-3150 fps for the 16" barrel.
Depending on what type of front sight you have, you are not going to be able to zero elevation precisely enough that a small difference in MV is going to matter all that much anyway. If you have an A1 style front sight post, with 5 detents per complete turn, and a carbine-length gas system, each front sight post "click" is going to shift your point of impact by 1.4 MOA or .35" at 25 yards. But if you have an A2 front sight post, with only 4 detents on the front post flange, each click will change your POI by 1.75 MOA, or .44" per click at 25 yards.
Either way,with no other options to zero elevation with the A1 rear sight (apart from changing the front sight post by grinding a bit off the top) your elevation zero adjustment is going to be rather coarse, so I wouldn't sweat a small error in muzzle velocity estimation.