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Motion planning and boundary control for a class of linear PDEs with constant coecients is presented. With the proposed method transitions from rest to rest can be achieved in a prescribed nite time. When parameterizing the system by a flat output, the system trajectories can be calculated from the flat output trajectory by evaluating denite convolution integrals. The compact kernels of the integrals can be calculated using innite series. Explicit formulae are derived employing Mikusi nski's operational calculus. The method is illustrated through an application to a model of a Timoshenko beam, which is clamped on a rotating disk and carries a load at its free end. Mathematics Subject Classication. 35B37, 35L55, 44A40, 93C20.

Motion planning for a class of boundary controlled linear hyperbolic PDE's involving finite distributed delays