UncertaintyUncertainty of a dynamical system can be described using different set-membership representations, where intervalInterval one is the simplest example. Motivated by application of intervalInterval observers and predictors in Model Predictive Control (MPC)Model Predictive Control (MPC), the first part of this chapter offers a brief tutorial of the intervalInterval framework. Then, the design of a robustRobust sampled-time controllerController stabilizing a continuous-time nonlinearNonlinear systemsNonlinear systems is presented, taking into account state and input constraints under external disturbances with values in a known interval. The proposed controllerController comprises the design of a robustRobust intervalInterval predictor-based state feedbackFeedback handling some uncertainties and external disturbances, and an MPC law, which deals with the state and input constraints. The proposed switched control strategy guarantees the input-to-state practical stabilityStability of the considered nonlinearNonlinear systems with respect to external disturbances. A constructive method, based on linear matrix inequalities (LMIs), is proposed to compute the controllerController gains. Some simulation results illustrate the efficiency of the proposed controller.