Switched stability design on canonical forms

In switched control systems, if every subsystems does not fit Hurwitz, just need a convex combination is Hurwitz, the systems can be stabilized. More simple sufficient or necessary conditions can be found in switched hybrid control systems. The switched system controllable or observable canonical forms, state feedback and periodic switching signals, switched convergent stability rules and algorithms are given out and analyzed. When some states can not be measured conveniently, a switched state estimator is designed. An instance and its experimental data are analyzed, which shows good parameters can make systems stable, while bad ones make same systems unstable.