The disclosed structures and methods are directed to antenna systems configured to transmit and receive a wireless signal in and from different directions. A switchable lens antenna has excitation ports radiating radio-frequency (RF) wave into a parallel-plate waveguide structure, and a frequency selective structure (FSS). The antenna presented herein is configured to operate in two modes depending on an initial steering angle of the RF wave propagating in the parallel-plate waveguide structure. When the initial steering angle is about or less than a threshold steering angle, FSS is OFF due to its stubs being electrically disconnected from the parallel-plate waveguide structure. When the initial steering angle is higher than the threshold, FSS is ON with stubs being electrically connected to the parallel-plate waveguide structure. When ON, FSS provides phase variance to the RF wave propagating in the parallel-plate waveguide structure and increases steering angle of the RF wave.