Optimal control of longitudinal vibrations of composite rods with the same wave propagation time in each part

We consider longitudinal elastic vibrations of a composite rod and find closedform expressions that describe optimal boundary controls bringing the rod from the quiescent state into a state with given displacement function φ(t) and velocity function ψ(t) in time T. We assume that the wave propagation time through each part of the rod is the same and T is a multiple of that time.