Controllability of bimodal LTI systems

This paper gives a self contained treatment of the bimodal LTI problems pointing to the relevant structures of the problem. It is shown that for a certain class of bimodal systems controllability in case of closed-loop switching systems is equivalent with controllability of an open-loop switching system using nonnegative controls, i.e., to the controllability of a constrained open-loop switching system. To illustrate the main ideas, illustrative examples are also provided.