Slope generation for robotics application

Hi,

i need to generate a speed trajectory following acceleration deceleration and maximum speed constraints in order to reach a position target

I made a simulink which generate the trajectory with the following script

for start_time_x=[0.01:0.01*precision:1.5];

    if position_x<pos_target_x;
        sim('test3.slx');   
        %set_param('test','SimulationCommand','stop')
    else
        break

        %set_param('test','SimulationCommand','stop')
    end
end

start_time_x=start_time_x-(0.01*precision);

sim('test3.slx');

Start_time_x is the moment when i trig my deceleration

The issues i got , is , when i overshoot the position, i nedd to calculate the proper deceleration in order to reach the position accurately.

I made a second script which take the step time just before the initial slope, and decrease the slope until reach the position

start_time_x=start_time_x-0.01 sim('test3')

for decel_max_x=[-11.999:0.001:-9]

    if max(position_x)<pos_target_x

        sim('test3')
        decel_max_x

    else
        break
    end
end

Its works , but i still have an accuracy issue ( not so much) but its take too many time to have the final result.

Below the position and the speed trajectory

Have you got any idea about how to generate the deceleration starting from a previous point more effectively in order to reduce the simulation time?

I was thining about bijection method , by i dont know where to start...

Thx a lot for your answers