more general way.
I believe it would revolve around a PID controller:
This works in 3d but (!) you need to tune the PID controller. Far from ideal. And it does not really give you the fastest possible arrival. Also, at the top of that thread there is a solution that works well for something arcady.
While researching it, I run into several books that deal with this issue professionally and a NASA paper but that went over my head way too fast 
It seems that doing it properly really IS complicated. What I posted is still a rough approximation because this is not real life and we’re dealing with frame time.
I may be doing things incorrectly, too.