A criterion for the asymptotic stability of a periodic selector-linear differential inclusion

We consider a periodic selector-linear differential inclusion. It is proved that for this inclusion to be uniformly asymptotically stable, it is necessary and sufficient that there exists a time-periodic Lyapunov function of a quasi-quadratic form. We derive estimates for the Lyapunov function that guarantee its positive definiteness and the existence of an infinitesimal upper limit.