This paper proposes a systematic methodology for creating multifolded torus chaotic attractors from a simple three-dimensional piecewise-linear system. Theoretical analysis shows that the multifolded torus chaotic attractors can be generated via alternative switchings between two basic linear systems. The theoretical design principle and the underlying dynamic mechanism are then further investigated by analyzing the emerging bifurcation and the stable and unstable subspaces of the two basic linear systems. A novel block circuit diagram is also designed for hardware implementation of 3-, 5-, 7-, 9-folded torus chaotic attractors via switching the corresponding switches. This is the first time a 9-folded torus chaotic attractor generated by an analog circuit has been verified experimentally. Furthermore, some recursive formulas of system parameters are rigorously derived, which is useful for improving hardware implementation.