“…To obtain a computationally efficient algorithm, stochastic tubes with fixed ellipsoidal cross sections are used [59], [61], [62], [69], [73], [89], [91], [92], [147] nonlinear [31]- [35], [63]- [65], [110], [120] Type of uncertainties Time-varying uncertainties Time invariant uncertainties [33], [34], [65] Time-varying/invariant multiplicative uncertainties with additive disturbances [26], [42], [54], [59], [62], [89] additive [43]- [45], [47]- [53], [55], [56], [61], [73], [92], [147] Multiplicative [57], [58], [69] uncertainty propagation stochastic tube [26], [42]- [46] scenario/sample based [31], [32], [56], [59]- [63], [92], [93] gpC/Fp/gM …”