Scanning probes are being considered as the basis for a variety of emerging nanoscale applications including sample imaging and ultra-high-density probe storage. In this work, a controller for track-follow in archimedean spiral nanopositioning is presented. The proposed tracking controller is based on a Linear Quadratic Gaussian (LQG) component and a tracking controller, extended with frequency-sliding peak filters in order to exploit the inherent properties of the spiral reference signal. Simulations show that the proposed architecture enables spiral scan operation with very low tracking error even at very high scan frequencies. ©2010 IEEE.