The main difficulties in dealing with extremely high speed precision contouring control are system uncertainties and external disturbances, which exist in all CNC mechanisms and hard to be eliminated. Up to the present, numerous control strategies for multi-axial contouring control have been proposed. Some of them are only for specific contour conditions. This paper surveys several formulations in dealing with contouring control system, instead of the controller design. The distinguishing features of these control structures are also addressed.