The objective of control generation in logic programming is to automatically derive a computation rule for a program that is efficient and yet does not compromise program correctness. Progress in solving this important problem has been slow and, to date, only partial solutions have been proposed where the generated programs are either incorrect or inefficient. We show how the control generation problem can be tackled with a simple automatic transformation that relies on information about the depths of derivations. To prove correctness of our transform we introduce the notion of a semi delay recurrent program which generalises previous ideas in the termination literature for reasoning about logic programs with dynamic selection rules.