Planning a finite time transition from a non-stationary to a stationary point without overshoot

The problem of planning a finite time transition of a trajectory from a non-stationary point to a stationary set- point is addressed. As opposed to standard approaches, where the transition functions are polynomials, the specific choice of non-analytic function proposed may easily be trimmed to show no overshoot and only an adjustable undershoot during transition. The main result is a recursive formula for a simple parametrization of the transition function, as needed in tracking problems. Two examples underscore the ease of the approach.