Patent ID: 8570490

Claim:
A lithographic apparatus comprising: a substrate table constructed to hold a substrate, the substrate table connected to a positioning device configured to move the substrate table in a scan direction and in a step direction; and a controller arranged to control a speed of the substrate table in at least the scan direction, the controller comprising: a first input configured to receive a first signal representative of a first time period (T step ) of a movement of the substrate table in the step direction, a second input configured to receive a second signal representative of a distance (d scan ) in the scan direction to be covered by the substrate table during a scan movement thereof, a third input configured to receive a third signal representative of an acceleration (a scan ) of the substrate table in the scan direction, a fourth input configured to receive a fourth signal representative of a jerk (j scan ) of the substrate table in the scan direction, and an output configured to provide an output signal to control the speed (V scan ) of the substrate table in the scan direction, wherein the controller is further arranged to calculate the speed (V scan ) of the substrate table in the scan direction from the first (T step ), the second (d scan ), the third signal (a scan ) and the fourth signal (j scan ), and compensate the output signal for the calculated speed (V scan ) of the substrate table.