A guidance system configured for providing control information to a guided object moving the guided object from an initial state to a target final state within a finite time interval. A controller receives information of the desired state and information representative of the guided object's current state including position and velocity. The controller includes a processor configured to calculate a control solution based on four variables relating to the present state, and the target state, wherein the processor is configured to apply coefficient weights to each of the four state variables and wherein a common coefficient weight is applied to the current state of position and the target state of position, and different coefficient weights are applied to each of the current state and target state of velocity.