We consider bimodal linear control systems consisting of two subsystems acting on each side of a given hyperplane, assuming continuity along it. For a differentiable family of planar bimodal linear control systems, we obtain its stratification diagram and, if controllability holds for each value of the parameters, we construct a differentiable family of feedbacks which stabilizes both subsystems for each value of the parameters.
Ferrer, J.; Magret, M. D.; Peña, M. Differentiable families of planar bimodal linear control systems. "Mathematical problems in engineering", Juny 2014, vol. 2014, núm. Article ID 292813, p. 1-9.