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Simultaneous Triangularization of Switching Linear Systems: Arbitrary Eigenvalue Assignment and Genericity

A sufficient condition for the stability of arbitrary switching linear systems (SLSs) without control inputs is that the individual subsystems are stable and their evolution matrices are simultaneously triangularizable (ST). This sufficient condition for stability is known to be extremely restrictive and not robust, and therefore of very limited applicability. The situation can be radically different when control inputs are present. Indeed, previous results have established that, depending on the number of states, inputs and subsystems, the existence of feedback matrices for each subsystem so that the corresponding closed-loop matrices are stable and ST can become a generic property, i.e., a property valid for almost every set of system parameters. This note provides novel contributions along two lines. First, we give sufficient conditions for the genericity of the property of existence of feedback matrices so that the subsystem closed-loop matrices are ST (not necessarily stable). Second, we give conditions for the genericity of the property of existence of feedback matrices that, in addition to achieving ST, enable arbitrary eigenvalue selection for each subsystem's closed-loop matrix. The latter conditions are less stringent than existing ones, and the approach employed in their derivation can be interpreted as an extension to SLSs of specific aspects of the notion of eigenvalue controllability for (non-switching) linear systems.