Text this: Improving contouring accuracy by using generalized cross-coupled control

  ____      ______    ______    _____    __   __  
 |  _ \\   /_   _//  /_   _//  |  ___||  \ \\/ // 
 | |_| ||   -| ||-   `-| |,-   | ||__     \   //  
 | .  //    _| ||_     | ||    | ||__     / . \\  
 |_|\_\\   /_____//    |_||    |_____||  /_//\_\\ 
 `-` --`   `-----`     `-`'    `-----`   `-`  --`