A remarkably simple result is found for the optimal protocol of drivings for a general two-level Hamiltonian which transports a given initial state to a given final state in minimal time. If one of the three possible drivings is unconstrained in strength the problem is analytically completely solvable. A surprise arises for a class of states when one driving is bounded by a constant $c$ and the other drivings are constant. Then, for large $c$, the optimal driving is of type bang-off-bang and for increasing $c$ one recovers the unconstrained result. However, for smaller $c$ the optimal driving can suddenly switch to bang-bang type. It is also shown that for general states one may have a multistep protocol. The present paper explicitly proves and considerably extends the authors results contained in Phys. Rev. Lett. {bf 111}, 260501 (2013).
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