\begin{abstract}
\label{sec:abstract}
% Peak Estimation aims to find the maximum value of a state functionachieved by a dynamical system. 
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.
% Demonstrations are provided on \urg{fill this out}.
\end{abstract}