Departmental Papers (CIS)

Date of this Version


Document Type

Conference Paper


International Conference of Cyber-Physical Systems (ICCPS), Berlin, Germany, April 2014. Awarded 2014 best paper award.


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.

Subject Area

CPS Embedded Control, CPS Auto

Publication Source

5th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS 2014)

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Copyright/Permission Statement

© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.


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.