Many servo systems require micro/nano level positioning accuracy. This requirement sets a number of challenges from the viewpoint of sensing, actuation, and control algorithms. This paper considers control algorithms for precision positioning. We examine how prior knowledge about the parameterization of control structure and the disturbance spectrum should be utilized in the design of control algorithms. An outer-loop inverse-based Youla-Kucera parameterization is built in the paper. The presented algorithms are evaluated on a tutorial example of a galvo scanner system.