A system to control slip-stick stages that includes a slip-stick stage including an actuator and a processor coupled to the actuator to obtain a frequency, a number of measurement samples, and a voltage; determine a time period based on the number of measurement samples and the frequency; sample a displacement of the actuator during the time period. The system functions to calculate an error value based on the displacement and a reference position; determine a step value based on the error value and a modulation protocol. The modulation protocol includes a proportional modulation protocol or a proportional-integral modulation protocol to generate a control signal based on the step value, the frequency and the voltage based on an integral of a function of voltage and a Heaviside function according to a direction specified by a sign of the step value; and transmit the control signal to the actuator.