Patent ID: 8355115

Claim:
A lithographic apparatus comprising: a support constructed to support a patterning device, the patterning device being capable of imparting a radiation beam with a pattern in its cross-section to form a patterned radiation beam; a substrate table constructed to hold a substrate; a projection system configured to project the patterned radiation beam onto a target portion of the substrate; and a positioner configured to position a first part of the apparatus relative to a second part of the apparatus, the positioner comprising a motor having a motor position dependent motor constant defining a relation between a motor input and a motor output, and a control system configured to drive the motor, the control system comprising a set-point generator configured to provide a reference signal based on a desired position of the first part relative to the second part, and a controller configured to provide a drive signal to the motor based on the reference signal, wherein the controller comprises a compensator configured to at least partially compensate the drive signal for the motor position dependent motor constant.