Patent ID: 8174671

Claim:
A control system for controlling a support structure in a lithographic apparatus, comprising: a first measurement system arranged to measure, in a first coordinate system, a position of an object supported by the support structure; a second measurement system arranged to measure, in a second coordinate system, a position of the support structure, the first measurement system having a presumed position in the second coordinate system, wherein the second measurement system comprises a reference structure to which the second coordinate system is coupled; and a controller configured to: receive a position error signal indicative of a difference between the presumed position and an actual position of the first measurement system in the second coordinate system, convert a measured position of the object into a converted position of the support structure in the second coordinate system, and control the position of the support structure based on measurements by the second measurement system, the converted position, and the error signal to dampen relative movements between the first measurement system and the second measurement system.