Patent ID: 7394218

Claim:
A servo control system micro-electromechanical systems (MEMS)-based motion control system, comprising: a motion generator having an inherent stiffness component; a feed-forward element for canceling the inherent stiffness component of the motion generator of said micro-electromechanical systems (MEMS)-based motion control system; a node coupled to receive an input from said feed-forward element, wherein said feed-forward element comprises one of a linear stiffness unit and a look-up table for storing therein complex stiffnesses, for generating a stiffness component, based on a target position first-axis reference signal, for being input to said node; a servo controller for receiving a position error signal based on a target position first-axis reference signal, and a reference velocity; a node for receiving an input target position first axis-reference value; a k stiffness unit for a linear stiffness; and a look-up table for storing values representing complex stiffnesses, wherein said node further receives a measured motion generator position first axis-signal from the motion generator, wherein said node for receiving determines a difference between the input target position first axis-reference value and the measured motion generator position first axis-signal and, based on the difference, said node for receiving outputs a position error signal to said servo controller, wherein said servo controller outputs a signal to a summing node, which also receives inputs from said k stiffness unit and said look-up table, said summing node providing an output signal to said motion generator, wherein the stiffness term is fed forward without waiting for the servo controller to build up, wherein the stiffness of said scanner, when counterbalanced by said feed forward component, minimizes a position error of said scanner due to a ramp motion, and wherein an electronically-generated force is applied to the scanner to eliminate the stiffness.