To provide a system capable of securing the continuity of a time-integrated function of a specified function when a trajectory defined by the specified function is generated while permitting the change of a specified time for making the specified function coincide with a target value.

A specified function p is generated so as to satisfy a first condition that an integral value of an evaluation function over a specified period is minimal. The evaluation function denotes a magnitude of an absolute value of a third order specified function p⁽³⁾(t). Moreover, the specified function p (t) is generated so as to satisfy a second condition that a value of a second order specified function p⁽²⁾(t) is limited within a limiter range [p⁽²⁾min_c, p⁽²⁾max_c].