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In this paper, we demonstrate full closed-loop control of electrostatically actuated double-gimbaled MEMS mirrors and use them in an optical cross-connect. We show switching times of less than 10 ms and optical power stability of better than 0.2 dB. The mirrors, made from 10-μm-thick single-crystal silicon and with a radius of 400-450 μm, are able to tilt to 8° corresponding to 80% of touchdown angle. This is achieved using a nonlinear closed-loop control algorithm, which also results in a maximum actuation voltage of 85 V, and a pointing accuracy of less than 150 μrad. This paper will describe the MEMS mirror and actuator design, modeling, servo design, and measurement results.