This is a really cool tool to pull "out of the box", so to speak. Never seen any particular lessons on this topic, or even how to explain it, just rely on ear instinct as to when to pull it off. Not even sure who started it, know B.B. King will play C Major Pentatonic and throw in C minor Pentatonic notes a lot, then there's also the Clapton and Hendrix solos that start with minor Pentatonic licks and then they throw in same key Major Pentatonic licks.
An example is the Ace "Shock Me" solo as taught in this vid by Troy Stetina, where he plays A minor pentatonic and throws in some A Major Pentatonic over the same chord progression. This can really open up and expand your pallet. Maybe some of the teachers on the forum will chime in with a proper explanation/lesson.