Segmented primary mirror telescopes require dedicated piston-tip-tilt actuators for optimal optical performance. Netherlands Organisation for Applied Scientific Research (TNO) has developed various prototypes of such actuators, in particular for the E-ELT. This paper presents the dynamics analysis and feedback control results for a specific two-stage prototype. First, the dynamics of the actuator in interconnection with the to-be-positioned mass has been analyzed, both using frequency response measurements and first principles modeling, resulting in a detailed understanding of the dynamic behavior of the system. Next, feedback controllers for both the fine and the coarse stage have been designed and implemented. Finally, the feedback-controlled actuator has been subjected to a realistic tracking experiment; the achieved results have demonstrated that the TNO actuator is able to suppress wind force disturbances and ground vibrations with more than a factor , down to 1.4 nm root mean square, which is compliant with the requirements.