The robust tracking problem of a class of linear switched systems with both model uncertainty and external disturbance is investigated. Firstly, some new stability results for the linear switched systems with external disturbance are obtained in the following two cases: One is under arbitrary switching paths, the other is under switching paths with average dwell time. Secondly, a robust switched control strategy based on the existing uncertainty and disturbance estimator (UDE)-based control method is developed for a class of linear switched system with both model uncertainty and external disturbance. The asymptotic stability of the closed-loop linear switched system is established under the above two mentioned switching paths. Finally, the important features and good performance of the proposed method are demonstrated through numerical simulation studies.