Patent ID: 7280182

Claim:
A lithographic projection apparatus comprising: a support structure configured to support a patterning device, the patterning device serving to pattern a projection beam according to a desired pattern; a substrate table configured to hold a substrate; a projection system configured to project the patterned beam onto a target portion of the substrate; and a positioning system configured to position an object, selected from the group consisting of the support structure and the substrate table, said positioning system having a long stroke module and a short stroke module in series and a control system configured to control the long stroke and short stroke modules to move the positioned object along a desired course at desired speeds, said control system adapted to control said long and short stroke modules to apply a desired acceleration to said object by controlling said short stroke module to apply said desired acceleration to said object and to control said long stroke module to apply a smaller acceleration, said object moving at a substantially constant scanning velocity during a scanned exposure, wherein said control system is adapted to control said short stroke module so that said object reaches said constant scanning velocity at or before the beginning of said scanned exposure and to control said long stroke module such that a driven end thereof reaches said scanning speed after the object has reached said scanning speed.