“…[ 53 ], and we check that the hypotheses of this theorem are fulfilled in Appendix A ). These kind of bang-bang optimal protocols arise in different physical situations [ 22 , 23 , 54 , 55 , 56 ]. In general, bang-bang protocols emerge as the optimal ones when Pontryagin’s Hamiltonian is linear in the controls—i.e., when the evolution equations are linear in the controls, although they may be non-linear in the relevant physical variables [ 30 , 57 , 58 , 59 ].…”