Abstract: A method for generating a motion control profile having an acceleration and a deceleration phase to control motion of a load handling device on a grid structure including a plurality of tracks arranged in a grid pattern. The motion control profile is generated by receiving a plurality of constraints for the motion control profile, including a plurality of jerk constraints; selectively applying the jerk constraints for controlling an acceleration reference and a velocity reference in the acceleration phase; and selectively applying the jerk constraints for controlling a deceleration reference and a velocity reference in the deceleration phase, such that a magnitude of the acceleration reference and the velocity reference is substantially zero at a second position of the load handling device.