We consider a mathematical model which describes the equilibrium of an elastic beam in contact with two obstacles. The contact is modeled with a normal compliance type condition in such a way that the penetration is allowed but is limited. We state the variational formulation of the problem and prove an existence and uniqueness result for the weak solution. Then, we provide an alternative approach to the model, based on the control variational method. Necessary and sufficient optimality conditions are derived, together with an approximation property. Finally, we extend our results to some versions of the model which describe the contact with a single obstacle, including a timedependent case.Mathematics Subject Classification: 74M15, 49J15, 49S05, 49J40, 74K10.