Sufficient conditions for the genericity of feedback stabilisability of   switching systems via Lie-algebraic solvability
  This paper addresses the stabilisation of discrete-time switching linear systems (DTSSs) with control inputs under arbitrary switching, based on the existence of a common quadratic Lyapunov function (CQLF). The authors have begun a line of work dealing with control design based on the Lie-algebraic solvability property. The present paper expands on earlier work by deriving sufficient conditions under which the closed-loop system can be caused to satisfy the Lie-algebraic solvability property generically, i.e. for almost every set of system parameters, furthermore admitting straightforward and efficient numerical implementation. 
Hernan Haimovich and Julio H. Braslavsky
cs.SY math.OC