Reduction of contour error is an important topic in contour following applications. This study conducts an indepth investigation on this issue. In addition, an integrated control scheme is proposed to reduce contour error. In this paper, we have accomplished the following: 1). Based on the estimated contour error method, a contour error controller is designed to reduce the contour error for an arbitrary curve following task. 2). According to the estimated contour error, a fuzzy logic based feedrate regulator is proposed to determine a suitable feedrate in real-time. 3). The contour error controller and the fuzzy logic based feedrate regulator are developed to reduce the contour error. Several experiments are conducted to evaluate the performance of the proposed approach. Experimental results demonstrate the effectiveness of the proposed approach.