Hi,
first thing first, you should try to remove the reason why those URLs are generated and indexed, but this is probably a long time consuming task, and it requires to inspect your site's pages.
About the pages already indexed by Google, you can create rules to redirect them "permanently" to the new (correct) path. Probably it doesn't work because you need to escape special chars. For your example, try to create a rule as follow (literally):
From URL: ^/component/users/profile\.html\?Itemid=435$
To URL: {scheme}://{siteurl}/profile/profile.html
Request only: true (checked)
Of course this is just an example. Change the "/profile/profile.html" with the real path for your site.
With a single rule you could match and redirect multiple URLs (but I have no clue if this could be your case, you posted just a single URL).
Let me know if you need more help.
Kind regards,
Luigi