A physical system controlled by a electric motor will be modelled in Matlab and code generated by embedded coder

I am looking to develop a physical system controlled by an electric motor, as modelled in Matlab and code generated by an embedded coder. The purpose of this system is to move objects from one location to another; therefore, I am in need of an adaptive control system for the motor to accurately achieve this goal. The desired level of accuracy for the system's movement is moderate precision.