Date of this Version
Miroslav Pajic, James Weimer, Nicola Bezzo, Paulo Tabuada, Oleg Sokolsky, Insup Lee, and George Pappas, "Robustness of Attack-Resilient State Estimators", 5th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS 2014) , 163-174. April 2014. http://dx.doi.org/10.1109/ICCPS.2014.6843720
The interaction between information technology and physical world makes Cyber-Physical Systems (CPS) vulnerable to malicious attacks beyond the standard cyber attacks. This has motivated the need for attack-resilient state estimation. Yet, the existing state-estimators are based on the non-realistic assumption that the exact system model is known. Consequently, in this work we present a method for state estimation in presence of attacks, for systems with noise and modeling errors. When the the estimated states are used by a state-based feedback controller, we show that the attacker cannot destabilize the system by exploiting the difeerence between the model used for the state estimation and the real physical dynamics of the system. Furthermore, we describe how implementation issues such as jitter, latency and synchronization errors can be mapped into parameters of the state estimation procedure that describe modeling errors, and provide a bound on the state-estimation error caused by modeling errors. This enables mapping control performance requirements into real-time (i.e., timing related) specifications imposed on the underlying platform. Finally, we illustrate and experimentally evaluate this approach on an unmanned ground vehicle case-study.
CPS Embedded Control, CPS Auto
5th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS 2014)
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Management of Computing and Information Systems, Security and Protection, Unauthorized access, Special-purpose and Application-based Systems, Process control systems
Date Posted: 02 June 2014
This document has been peer reviewed.