Hybrid systems are a class of nonlinear systems which result from the interaction of continuous time dynamical subsystems with discrete events. Switched systems constitute a subclass of hybrid systems, in the sense that the discrete dynamics is simplified. A switched system is a dynamical system that consists of a finite number of subsystems and a logical rule that orchestrates switching between these subsystems. The motivation behind the study of hybrid and switched systems stems from the fact that they represent useful models for the design of distributed embedded systems where discrete controls are applied to continuous processes.