On the controllability of bimodal piecewise linear systems

This paper studies controllability of bimodal systems that consist of two linear dynamics on each side of a given hyperplane. We show that the controllability properties of these systems can be inferred from those of linear systems for which the inputs are constrained in a certain way. Inspired by the earlier work on constrained controllability of linear systems, we derive necessary and sufficient conditions for a bimodal piecewise linear system to be controllable.Natl Sci Fdn; Univ Penn, Sch Engn & Appl Sci