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Biaxial contouring systems involve competing control objectives of maximising accuracy while minimising traversal time. In this paper, a model predictive controller for contouring systems is proposed where the control inputs are determined by minimising a cost function which reflects the trade-off between these competing objectives, subject to state and actuator constraints. To facilitate real-time implementation, a linear time-varying approach is proposed, and stability is guaranteed by introducing an additional contraction constraint. Simulation results for an XY table system demonstrate the effectiveness of the proposed contouring control scheme.