Add to ORKGIt is well-known that checking certain controllability properties of very simple piecewise linear systems are undecidable problems. This paper deals with the controllability problem of a class of piecewise linear systems, known as linear complementarity systems. By exploiting the underlying structure and employing the results on the controllability of the so-called conewise linear systems, we present a set of inequality-type conditions as necessary and sufficient conditions for controllability of linear complementarity systems. The presented conditions are of Popov–Belevitch–Hautus type in nature