Scanner control for Lidar systems

A method for controlling scanner of a Lidar system comprising:

• generating a drive signal to an actuator to drive a motion of the scanner, wherein the drive signal comprises a first component at a first frequency to drive a motion of the scanner about a fast scan axis, and a second component at a second frequency and a third component at a third frequency to drive a motion of the scanner about a slow axis, and wherein a value of the third frequency is twice of a value of the first frequency,
• wherein the scanner comprising a scan plate coupled to the actuator via a plurality of torsion arms, wherein the plurality of torsion arms comprise a first torsion arm and a third torsion arm allowing the scan plate to move about the slow scan axis, and a second torsion arm allowing the scan plate to move about the fast scan axis.