Reachabilty sequences of minimal length for discrete-time switched linear control systems

In this paper, we provide a novel characterization of the reachable set of discrete-time switched linear control systems and a Kalman-type criterion for reachability, assuming that the switching parameter can be used as a control parameter in addition to the actual control variable. For reachable switched linear control systems it turns out that there always exists a switching sequence such that the reachable set of the corresponding linear time-variant system covers the whole state space after a sufficiently large time. We provide estimates on the minimal time guaranteeing this property in terms of the state dimension, number of modes and rank of the control matrices, and show that such estimates are actually tight in some relevant cases.