The goal of this thesis is to apply control algorithms to improve the performance of nanopositioning devices used on the beamline in Advanced Photon Source (APS) at Argonne National Laboratory (ANL). A prototype device, better known as the Early User Instrument (EUI) was the subject of this work. It consists of X-ray optics stage group that focuses the X-ray beam as a source-size-limited spot onto a sample held on the sample stage group. The controller algorithms that are used should provide the closed-loop with robust stability, large bandwidth, high resolution, disturbance rejection and noise attenuation. Conveniently, the field of scanning probe microscopes (SPMs) have already flourished on this aspect of controller algorithms proven to give desired closed-loop properties. Controller algorithms such as Proportional Integral Derivative (PID), Glover-McFarlane H-infinty algorithm, and 1DOF H-infinty controller were designed and implemented on the EUI system. The controller hardware used for implementation is National Instruments (NI) CompactRIO hardware that consists of a real-time controller, a FPGA built into the hardware chassis, analog I/O modules, and digital I/O modules. NI LabVIEW, the dedicated software to the NI hardware, was used to represent the discrete controllers as biquads structures that ran in the FPGA as a part of the closed-loop . The largest closed-loop bandwidth achieved is of 65 Hz through the 1DOF H-infinty controller and is a 171% improvement over the traditional PID controller. Highest closed- loop resolution achieved by the EUI with a 50 Hz bandwidth 1DOF H-infinty controller is 1.4 nanometers, which is a 180% improvement over the open loop resolution of 7 nanometers. Advisors/Committee Members: Salapaka, Srinivasa M. (advisor), Preissner, Curt (advisor).