  Peak estimation bounds extreme values of a function of state along
trajectories of a dynamical system. This paper focuses on extending peak
estimation to continuous and discrete settings with time-independent and
time-dependent uncertainty. Techniques from optimal control are used to
incorporate uncertainty into an existing occupation measure-based peak
estimation framework, which includes special consideration for handling
switching uncertainties. The resulting infinite-dimensional linear programs can
be solved approximately with Linear Matrix Inequalities arising from the
moment-SOS hierarchy.
