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A discrete wavelet transform-based cutoff frequency tuning method is proposed and experimental investigation is reported. In the method, discrete wavelet packet algorithm, as a time-frequency analysis tool, is employed to decompose the tracking error into different frequency regions so that the maximal error component can be identified at any time step. At each time step, the passband of the filter is from zero to the upper limit of frequency region where the maximal error component resides. Hence, the filter is a function of time as well as index of cycle. The experimental results show that this method can suppress higher frequency error components at proper time steps. While at the time steps where the major tracking error falls into lower frequency range, the cutoff frequency of the filter is set lower to reduce the influence of noises and uncertainties. This way, learning transient and long-term stability can be improved.