This paper addresses analysis and switching control problems of continuous/discrete-time switched linear systems. A particular class of matrix inequalities, the so-called Lyapunov–Metzler inequalities, will be modified to provide conditions for stability analysis and output feedback control synthesis under a relaxed min-switching logic. The switching rule combined with switching output feedback controllers will be designed to stabilize the switched system and satisfy a prespecified gain performance. The proposed analysis and switching control approach could refrain frequent switches commonly observed in min-switching based designs. The effectiveness of the proposed approach will be illustrated through numerical examples. Copyright © 2012 John Wiley & Sons, Ltd.