Patent ID: 7064512

Claim:
A positioning apparatus comprising: a stage; a first actuator which drives said stage along a first drive axis; a second actuator which drives said stage along a second drive axis; a detector which detects position information of said stage in a direction of the first and second drive axes; a controller which controls said first and second actuators based on detection results of said detector, wherein said controller controls said second actuator based on the position information of said stage in the direction of the first drive axis detected by said detector, so as to cancel a force generated in the direction of the second drive axis by said first actuator when said first actuator drives said stage in the direction of the first drive axis, and wherein said controller comprises a first proportional element which multiples the position information obtained by said detector by a gain Kp, a first differential element which calculates first derivative of the position information obtained by said detector, a second differential element which calculates second derivative of the position information obtained by said detector, a second proportional element which multiplies an output from said first differential element by a gain Kv, and a third proportional element which multiplies an output from said second differential element by a gain Ka, and a sum of outputs from said first, second, and third proportional elements is subtracted from a target drive command value which is used for driving said second actuator.