In most cases I use simple MOSFET switch - typically industrial devices like frequency converters, soft-starters etc. have built PWM low pass filter and also are connected to 10V. Or you have potentiometer “style” input - GND, viper and +10V.
Solution really depend from device but it is very simple: PWM output (PWM frequency > 30 KHz) MOSFET (gate threshold <2V, like 2N7000) or ULN2003 chip) and low pass RC filter. You can build it all or just a part - as I have said: many industrial devices accept PWM, regulated 0…10V.