i need help in linear control system

 I need your help doing about 3 pages of research on the control techniques used and outlining the design of the controller. The inputs the controller will receive (from a computer vision application I am writing) is the relative distance from the object, and the objects distance from the center of the frame.

The control algorithm must then receive the relative distance from the subject (say for example 2 units, and we want to keep it at 1 unit) and output the y velocity that will persist for 0.1 seconds and update again. The target will track will be moving forward and backward.

So I need help with the algorithm that says: we at 2 distance units from the target, we want to be at 1 unit, so set y velocity to 1m/s for 0.1 seconds and check the distance from target again and set the velocity again for 0.1 seconds and stoping the control action (or setting the y velocity to zero) when at 1 unit from the target.

I need the motion to be very smooth, no oscillations, no overshoot, and perfect tracking.

Then I need an algorithm that will take the target distance from center of the screen and set a yaw action to drive that distance down to zero. The yaw action will be set every 0.1 seconds and needs to update The the yaw speed and the direction (clockwise or counter clockwise).

We need to think about how to deal with the distance of the target from screen. For example if the target is very far from the camera a small change in the yaw will result in a large change in its distance from the center of the frame. Where as if the target is close to the camera a small change in yaw will result in a small change in its distance form the center.