In this paper, we first provide a mathematical description and proof for the robust stability of systems with convex polytopic un- certainty through the construction of attractive invariant sets. Then, we present the problem of estimating the convergence time to arbitrarily tight over-approximations of an invariant set, from both a known initial condition and for initial conditions belonging to a convex polytopic set. We then propose various analytical and numerical methods for comput- ing the aforementioned convergence time. Finally, a number of numerical examples, including a flexible link robotic manipulator, are given to il- lustrate the results.
['Ryan J. McCloy', 'José A. De Doná', 'María M. Seron']
On the Estimation of Convergence Times to Invariant Sets in Convex Polytopic Uncertain Systems