Patent ID: 7505114

Claim:
A lithographic apparatus, comprising: a first moveable component; an actuator configured to move said first component relative to a second component; a measurement system constructed and arranged to measure at least one of the following properties of said second component: a position, a velocity, an acceleration and higher order time derivatives of the position; and a control system configured to control said actuator according to an output of said measurement system, wherein said control system comprises: a plurality of filter branches, each filter branch configured to act on an output of said measurement system and determine therefrom characteristic parameters of a different one of a plurality of pre-determined independent variables of a first analytical expression of said output of said measurement system; and a prediction unit configured to use said characteristic parameters determined by said plurality of filter branches and said first analytical expression to provide a version of said output that is time-shifted to at least partially compensate for a delay between a measurement of a property of said second component by said measurement system and the effect of said measurement on an operation of said actuator as controlled by said control system; wherein said independent variables comprise frequency components and said characteristic parameters comprise amplitude and phase of said frequency components; and wherein each filter branch comprises: a filter unit; a normalization unit configured to divide said amplitude of the pre-determined frequency component by a gain of said filter unit in said filter branch at the frequency of said frequency component; and a phase rotation unit configured to rotate the phase of the filter output in the complex plane to correct for a phase offset introduced by said filter unit at the frequency of said frequency component.