Patent ID: 7098990

Claim:
A lithographic apparatus comprising: (1) a moveable object, and (2) a position control system configured to control a position of said moveable object, the position control system comprising: (a) a position controller configured to output a position controller force; (b) a position feedback circuit configured to feed back a determined actual position of the moveable object to an input of the position controller, and (c) an acceleration control system including: (i) a first acceleration circuit branch comprising a subtractor into which the position controller force is input, and a first filter having a first gain into which the output of the subtractor is input, wherein said first filter is configured to output a control force which is to be exerted on the moveable object; and (ii) a second acceleration circuit branch comprising a second filter having a second gain and into which an acceleration control signal is input, the output of the second circuit branch being input into said subtractor to subtract the output of the second circuit branch from the position controller force.