A device and method for canceling one or more self-jammer signals in a radio-frequency identification system. A force bias eliminator is coupled to the plant for causing the actuator to experience a zero-mean load, and a vibration isolation block generates a control signal based on the response of a nominal plant to measured disturbances of the actively suspended plant. A set of minimal resource capacities can then be calculated as a multi-objective optimization using a linear programming analysis. The positioning tool further includes an actuation device for actuating the centering member.