Patent ID: 8452442

Claim:
A positioning device configured to position at least one of first and second supports in a lithographic apparatus, the positioning device comprising: a first part and a second part, the first part movable relative to the second part, the second part arranged to receive the at least one of the first and second supports, wherein the first support is constructed to support a patterning device and the second support is constructed to hold a substrate; a position sensor configured to generate a position signal indicative of a position of the at least one of the first and second supports; and a controller arranged to receive the position signal indicative of the position of the at least one of the first and second supports, compare the position signal to a set-point signal indicative of a desired position of the at least one of the first and second supports to obtain an error signal, selectively modify the error signal based on the amplitude and the frequency content of the error signal to obtain a modified error signal, and generate a control signal to control the positioning device based on the modified error signal.