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This expository article presents an overview of research, conducted mostlybetween the mid-1990s and late 2000s, that explores a link between commutationrelations among a family of asymptotically stable vector fields and stabilityproperties of the switched system that these vector fields generate. This topicis viewed through the lens of the author's own involvement with it, byinterspersing explanations of technical developments with personalreminiscences and anecdotes.

Commutation relations and stability of switched systems: a personal history