The reachable set of a linear endogenous switching system

In this work, switching systems are named endogenous when their switching pattern is controllable. Linear endogenous switching systems can be considered as a particular class of bilinear control systems. The key idea is that both types of systems are equivalent to polysystems, i.e. to systems whose flow is piecewise smooth. The reachable set of a linear endogenous switching system can be studied consequently. The main result is that, in general, it has the structure of a semigroup, even when the Lie algebra rank condition is satisfied since the logic inputs cannot reverse the direction of the flow. The adaptation of existing controllability criteria for bilinear systems is straightforward.