Asking for the optimal protocol of an external control parameter that minimizes the mean work required to drive a nano-scale system from one equilibrium state to another in finite time, Schmiedl and Seifert ({it Phys. Rev. Lett.} {bf 98}, 108301 (2007)) found the Euler-Lagrange equation to be a non-local integro-differential equation of correlation functions. For two linear examples, we show how this integro-differential equation can be solved analytically. For non-linear physical systems we show how the optimal protocol can be found numerically and demonstrate that there may exist several distinct optimal protocols simultaneously, and we present optimal protocols that have one, two, and three jumps, respectively.
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