Boundary control by an elastic force at one end of an inhomogeneous rod with the other end free for the case in which the wave travels either of the homogeneous parts in the same time

We study the boundary control by an elastic force at one end of an inhomogeneous rod that has two parts of different densities and elasticities and whose other end is free. The case in which the wave travels either of the homogeneous parts in the same time is considered. We present a closed-form analytical expression for the boundary control by an elastic force that brings the rod from the initial quiescent state to a given terminal state specified by given terminal displacement and terminal velocity.