Patent ID: 7948609

Claim:
A lithographic apparatus comprising: an illumination system configured to condition a radiation beam; a patterning device support constructed to support a patterning device, the patterning device being capable of imparting the radiation beam with a pattern in its cross-section to form a patterned radiation beam; a substrate support constructed to hold a substrate; a projection system configured to project the patterned radiation beam onto a target portion of the substrate; and a stage control system configured to control a position of one of the supports in response to a position setpoint signal, the stage control system comprising: a feedback control loop configured to control the position in a feedback manner, the feedback control loop having a setpoint input, and an acceleration feedforward configured to generate a feedforward signal to be forwardly fed into the feedback control loop, the feedforward signal derived from the position setpoint signal, wherein the stage control system is configured to modify the position setpoint signal into a modified position setpoint signal, the setpoint input of the feedback control loop to receive the modified position setpoint signal, the modified position setpoint signal to take into account a non rigid body behavior of the one of the supports.