Patent ID: 7005823

Claim:
A positioning system for moving an object to a target position, the system comprising: (a) a first actuator configured to exert a force on said object in a first direction in response to a control current, the actuator having an actuator gain and the generated force being a function of the control current and the actuator gain, the first actuator comprising: (i) a magnet configured to induce a magnetic field; and (ii) a coil arranged in said magnetic field, the magnet and the coil being movable relative to each other; (b) a power supply configured to supply the control current to the actuator in response to a control signal; and (c) a control system configured to control the force generated by the actuator by supplying the control signal to the power supply, the control signal being adapted to the actuator gain, said gain being a function of a system parameter.