“…For systems affected by disturbances, different techniques in set invariance theory are used for the computation of invariant sets. These techniques have been applied to linear dynamical systems [100,120], LPV systems [115,116], switched systems [12,46,115], and nonlinear systems [3,16,36,37]. In particular, ultimate boundedness methods are used to compute invariant sets with relative low complexity [46,62].…”