  We develop the general scheme for modified $f(R)$ gravity reconstruction from
any realistic FRW cosmology. We formulate several versions of modified gravity
compatible with Solar System tests where the following sequence of cosmological
epochs occurs: a. matter dominated phase (with or without usual matter),
transition from decceleration to acceleration, accelerating epoch consistent
with recent WMAP data b. $\Lambda$CDM cosmology without cosmological constant.
As a rule, such modified gravities are expressed implicitly (in terms of
special functions) with late-time asymptotics of known type (for instance, the
model with negative and positive powers of curvature). In the alternative
approach, it is demonstrated that even simple versions of modified gravity may
lead to the unification of matter dominated and accelerated phases at the price
of the introduction of compensating dark energy.
