Abstract: Control of time-dependent states, such motion, is facilitated in a manner that avoids explicit solution to the governing equations, but which permits specification of both an initial and a final acceleration. This permits the operator to restrict jerk by exerting control over the final acceleration (e.g., by setting this equal to the initial acceleration, or constraining it to within an allowed maximum), but without explicitly computing parameter values for jerk. More generally, the approach is useful in controlling any system in which states evolve with respect to a specific parameter (frequently, but not necessarily, time), and whose evolution can be described by a defined set of algebraic equations.