This paper deals with a new approach to robust control design for a class of nonlinearly affine control systems. The dynamical models under consideration are described by a special class of structured implicit differential equations called semi-explicit differential-algebraic equations (of index one), in the presence of additive bounded uncertainties. The proposed robust feedback design procedure is based on an extended version of the classical invariant ellipsoid technique that we call the Attractive Ellipsoid (AE) method. The theoretic schemes elaborated in our contribution are illustrated by a simple computational example. © 2012 IEEE.