Necessary and sufficient conditions for stability of a class of second order switched systems

For a special class of systems, it is shown that the existence of a common quadratic Lyapunov function (CQLF) is necessary and sufficient for the stability of an associated switched system under arbitrary switching. Furthermore, it is shown that the existence of a CQLF for N (N > 2) subsystems is equivalent to the existence of a CQLF for every pair of subsystems. An algorithm is proposed to compute a CQLF for the subsystems, when it exists, using the left and right eigenvectors of a critical matrix obtained from a matrix pencil.