Biblio

The power grid is a prime target of cyber criminals and warrants special attention as it forms the backbone of major infrastructures that drive the nation's defense and economy. Developing security measures for the power grid is challenging since it is physically dispersed and interacts dynamically with associated cyber infrastructures that control its operation. This paper presents a mathematical framework to investigate stability of two area systems due to data attacks on Automatic Generation Control (AGC) system. Analytical and simulation results are presented to identify attack levels that could drive the AGC system to potentially become unstable.

Power networks can be modeled as networked structures with nodes representing the bus bars (connected to generator, loads and transformers) and links representing the transmission lines. In this manuscript we study cascaded failures in power networks. As network structures we consider IEEE 118 bus network and a random spatial model network with similar properties to IEEE 118 bus network. A maximum flow based model is used to find the central edges. We study cascaded failures triggered by both random and targeted attacks to the edges. In the targeted attack the edge with the maximum centrality value is disconnected from the network. A number of metrics including the size of the largest connected component, the number of failed edges, the average maximum flow and the global efficiency are studied as a function of capacity parameter (edge critical load is proportional to its capacity parameter and nominal centrality value). For each case we identify the critical capacity parameter by which the network shows resilient behavior against failures. The experiments show that one should further protect the network for a targeted attack as compared to a random failure.

This paper introduces combined data integrity and availability attacks to expand the attack scenarios against power system state estimation. The goal of the adversary, who uses the combined attack, is to perturb the state estimates while remaining hidden from the observer. We propose security metrics that quantify vulnerability of power grids to combined data attacks under single and multi-path routing communication models. In order to evaluate the proposed security metrics, we formulate them as mixed integer linear programming (MILP) problems. The relation between the security metrics of combined data attacks and pure data integrity attacks is analyzed, based on which we show that, when data availability and data integrity attacks have the same cost, the two metrics coincide. When data availability attacks have a lower cost than data integrity attacks, we show that a combined data attack could be executed with less attack resources compared to pure data integrity attacks. Furthermore, it is shown that combined data attacks would bypass integrity-focused mitigation schemes. These conclusions are supported by the results obtained on a power system model with and without a communication model with single or multi-path routing.

Cascading failure is an intrinsic threat of power grid to cause enormous cost of society, and it is very challenging to be analyzed. The risk of cascading failure depends both on its probability and the severity of consequence. It is impossible to analyze all of the intrinsic attacks, only the critical and high probability initial events should be found to estimate the risk of cascading failure efficiently. To recognize the critical and high probability events, a cascading failure analysis model for power transmission grid is established based on complex network theory (CNT) in this paper. The risk coefficient of transmission line considering the betweenness, load rate and changeable outage probability is proposed to determine the initial events of power grid. The development tendency of cascading failure is determined by the network topology, the power flow and boundary conditions. The indicators of expected percentage of load loss and line cut are used to estimate the risk of cascading failure caused by the given initial malfunction of power grid. Simulation results from the IEEE RTS-79 test system show that the risk of cascading failure has close relations with the risk coefficient of transmission lines. The value of risk coefficient could be useful to make vulnerability assessment and to design specific action to reduce the topological weakness and the risk of cascading failure of power grid.

This paper formulates a power system related optimal control problem, motivated by potential cyber-attacks on grid control systems, and ensuing defensive response to such attacks. The problem is formulated as a standard nonlinear program in the GAMS optimization environment, with system dynamics discretized over a short time horizon providing constraint equations, which are then treated via waveform relaxation. Selection of objective function and additional decision variables is explored first for identifying grid vulnerability to cyber-attacks that act by modifying feedback control system parameters. The resulting decisions for the attacker are then fixed, and the optimization problem is modified with a new objective function and decision variables, to explore a defender's possible response to such attacks.

This paper established a bi-level programming model for reactive power optimization, considering the feature of the grid voltage-reactive power control. The targets of upper-level and lower-level are minimization of grid loss and voltage deviation, respectively. According to the differences of two level, such as different variables, different solution space, primal-dual interior point algorithm is suggested to be used in upper-level, which takes continuous variables in account such as active power source and reactive power source. Upper-level model guaranteed the sufficient of the reactive power in power system. And then in lower-level the discrete variables such as taps are optimized by random forests algorithm (RFA), which regulate the voltage in a feasible range. Finally, a case study illustrated the speediness and robustness of this method.

The increasing exploitation of the internet leads to new uncertainties, due to interdependencies and links between cyber and physical layers. As an example, the integration between telecommunication and physical processes, that happens when the power grid is managed and controlled, yields to epistemic uncertainty. Managing this uncertainty is possible using specific frameworks, usually coming from fuzzy theory such as Evidence Theory. This approach is attractive due to its flexibility in managing uncertainty by means of simple rule-based systems with data coming from heterogeneous sources. In this paper, Evidence Theory is applied in order to evaluate risk. Therefore, the authors propose a frame of discernment with a specific property among the elements based on a graph representation. This relationship leads to a smaller power set (called Reduced Power Set) that can be used as the classical power set, when the most common combination rules, such as Dempster or Smets, are applied. The paper demonstrates how the use of the Reduced Power Set yields to more efficient algorithms for combining evidences and to application of Evidence Theory for assessing risk.

The communication infrastructure is a key element for management and control of the power system in the smart grid. The communication infrastructure, which can include equipment using off-the-shelf vulnerable operating systems, has the potential to increase the attack surface of the power system. The interdependency between the communication and the power system renders the management of the overall security risk a challenging task. In this paper, we address this issue by presenting a mathematical model for identifying and hardening the most critical communication equipment used in the power system. Using non-cooperative game theory, we model interactions between an attacker and a defender. We derive the minimum defense resources required and the optimal strategy of the defender that minimizes the risk on the power system. Finally, we evaluate the correctness and the efficiency of our model via a case study.

Cyber intrusions to substations of a power grid are a source of vulnerability since most substations are unmanned and with limited protection of the physical security. In the worst case, simultaneous intrusions into multiple substations can lead to severe cascading events, causing catastrophic power outages. In this paper, an integrated Anomaly Detection System (ADS) is proposed which contains host- and network-based anomaly detection systems for the substations, and simultaneous anomaly detection for multiple substations. Potential scenarios of simultaneous intrusions into the substations have been simulated using a substation automation testbed. The host-based anomaly detection considers temporal anomalies in the substation facilities, e.g., user-interfaces, Intelligent Electronic Devices (IEDs) and circuit breakers. The malicious behaviors of substation automation based on multicast messages, e.g., Generic Object Oriented Substation Event (GOOSE) and Sampled Measured Value (SMV), are incorporated in the proposed network-based anomaly detection. The proposed simultaneous intrusion detection method is able to identify the same type of attacks at multiple substations and their locations. The result is a new integrated tool for detection and mitigation of cyber intrusions at a single substation or multiple substations of a power grid.
 

This paper proposes a methodology to assess cyber-related risks and to identify critical assets both at power grid and substation levels. The methodology is based on a two-pass engine model. The first pass engine is developed to identify the most critical substation(s) in a power grid. A mixture of Analytical hierarchy process (AHP) and (N-1) contingent analysis is used to calculate risks. The second pass engine is developed to identify risky assets within a substation and improve the vulnerability of a substation against the intrusion and malicious acts of cyber hackers. The risk methodology uniquely combines asset reliability, vulnerability and costs of attack into a risk index. A methodology is also presented to improve the overall security of a substation by optimally placing security agent(s) on the automation system.
 

To protect complex power-grid control networks, power operators need efficient security assessment techniques that take into account both cyber side and the power side of the cyber-physical critical infrastructures. In this paper, we present CPINDEX, a security-oriented stochastic risk management technique that calculates cyber-physical security indices to measure the security level of the underlying cyber-physical setting. CPINDEX installs appropriate cyber-side instrumentation probes on individual host systems to dynamically capture and profile low-level system activities such as interprocess communications among operating system assets. CPINDEX uses the generated logs along with the topological information about the power network configuration to build stochastic Bayesian network models of the whole cyber-physical infrastructure and update them dynamically based on the current state of the underlying power system. Finally, CPINDEX implements belief propagation algorithms on the created stochastic models combined with a novel graph-theoretic power system indexing algorithm to calculate the cyber-physical index, i.e., to measure the security-level of the system's current cyber-physical state. The results of our experiments with actual attacks against a real-world power control network shows that CPINDEX, within few seconds, can efficiently compute the numerical indices during the attack that indicate the progressing malicious attack correctly.
 

Wide area monitoring, protection and control for power network systems are one of the fundamental components of the smart grid concept. Synchronized measurement technology such as the Phasor Measurement Units (PMUs) will play a major role in implementing these components and they have the potential to provide reliable and secure full system observability. The problem of Optimal Placement of PMUs (OPP) consists of locating a minimal set of power buses where the PMUs must be placed in order to provide full system observability. In this paper a novel solution to the OPP problem using a Memetic Algorithm (MA) is proposed. The implemented MA combines the global optimization power of genetic algorithms with local solution tuning using the hill-climbing method. The performance of the proposed approach was demonstrated on IEEE benchmark power networks as well as on a segment of the Idaho region power network. It was shown that the proposed solution using a MA features significantly faster convergence rate towards the optimum solution.
 

Power grids are monitored by gathering data through remote sensors and estimating the state of the grid. Bad data detection schemes detect and remove poor data. False data is a special type of data injection designed to evade typical bad data detection schemes and compromise state estimates, possibly leading to improper control of the grid. Topology perturbation is a situational awareness method that implements the use of distributed flexible AC transmission system devices to alter impedance on optimally chosen lines, updating the grid topology and exposing the presence of false data. The success of the topology perturbation for improving grid control and exposing false data in AC state estimation is demonstrated. A technique is developed for identifying the false data injection attack vector and quantifying the compromised measurements. The proposed method provides successful false data detection and identification in IEEE 14, 24, and 39-bus test systems using AC state estimation.
 

Contingency analysis is a critical activity in the context of the power infrastructure because it provides a guide for resiliency and enables the grid to continue operating even in the case of failure. In this paper, we augment this concept by introducing SOCCA, a cyber-physical security evaluation technique to plan not only for accidental contingencies but also for malicious compromises. SOCCA presents a new unified formalism to model the cyber-physical system including interconnections among cyber and physical components. The cyber-physical contingency ranking technique employed by SOCCA assesses the potential impacts of events. Contingencies are ranked according to their impact as well as attack complexity. The results are valuable in both cyber and physical domains. From a physical perspective, SOCCA scores power system contingencies based on cyber network configuration, whereas from a cyber perspective, control network vulnerabilities are ranked according to the underlying power system topology.
 

The University of Illinois at Urbana Champaign (Illinois), Pacific Northwest National Labs (PNNL), and the University of Southern California Information Sciences Institute (USC-ISI) consortium is working toward providing tools and expertise to enable collaborative research to improve security and resiliency of cyber physical systems. In this extended abstract we discuss the challenges and the solution space. We demonstrate the feasibility of some of the proposed components through a wide-area situational awareness experiment for the power grid across the three sites.
 

The modern society increasingly relies on electrical service, which also brings risks of catastrophic consequences, e.g., large-scale blackouts. In the current literature, researchers reveal the vulnerability of power grids under the assumption that substations/transmission lines are removed or attacked synchronously. In reality, however, it is highly possible that such removals can be conducted sequentially. Motivated by this idea, we discover a new attack scenario, called the sequential attack, which assumes that substations/transmission lines can be removed sequentially, not synchronously. In particular, we find that the sequential attack can discover many combinations of substation whose failures can cause large blackout size. Previously, these combinations are ignored by the synchronous attack. In addition, we propose a new metric, called the sequential attack graph (SAG), and a practical attack strategy based on SAG. In simulations, we adopt three test benchmarks and five comparison schemes. Referring to simulation results and complexity analysis, we find that the proposed scheme has strong performance and low complexity.

Contingency analysis is a critical activity in the context of the power infrastructure because it provides a guide for resiliency and enables the grid to continue operating even in the case of failure. In this paper, we augment this concept by introducing SOCCA, a cyber-physical security evaluation technique to plan not only for accidental contingencies but also for malicious compromises. SOCCA presents a new unified formalism to model the cyber-physical system including interconnections among cyber and physical components. The cyber-physical contingency ranking technique employed by SOCCA assesses the potential impacts of events. Contingencies are ranked according to their impact as well as attack complexity. The results are valuable in both cyber and physical domains. From a physical perspective, SOCCA scores power system contingencies based on cyber network configuration, whereas from a cyber perspective, control network vulnerabilities are ranked according to the underlying power system topology.

The addition of synchrophasors such as phasor measurement units (PMUs) to the existing power grid will enhance real-time monitoring and analysis of the grid. The PMU collects bus voltage, line current, and frequency measurements and uses the communication network to send the measurements to the respective substation(s)/control center(s). Since this approach relies on network infrastructure, possible cyber security vulnerabilities have to be addressed to ensure that is stable, secure, and reliable. In this paper, security vulnerabilities associated with a synchrophasor network in a benchmark IEEE 68 bus (New England/New York) power system model are examined. Currently known feasible attacks are demonstrated. Recommended testing and verification methods are also presented.

This paper proposes a methodology to assess cyber-related risks and to identify critical assets both at power grid and substation levels. The methodology is based on a two-pass engine model. The first pass engine is developed to identify the most critical substation(s) in a power grid. A mixture of Analytical hierarchy process (AHP) and (N-1) contingent analysis is used to calculate risks. The second pass engine is developed to identify risky assets within a substation and improve the vulnerability of a substation against the intrusion and malicious acts of cyber hackers. The risk methodology uniquely combines asset reliability, vulnerability and costs of attack into a risk index. A methodology is also presented to improve the overall security of a substation by optimally placing security agent(s) on the automation system.

This paper proposes a methodology to assess cyber-related risks and to identify critical assets both at power grid and substation levels. The methodology is based on a two-pass engine model. The first pass engine is developed to identify the most critical substation(s) in a power grid. A mixture of Analytical hierarchy process (AHP) and (N-1) contingent analysis is used to calculate risks. The second pass engine is developed to identify risky assets within a substation and improve the vulnerability of a substation against the intrusion and malicious acts of cyber hackers. The risk methodology uniquely combines asset reliability, vulnerability and costs of attack into a risk index. A methodology is also presented to improve the overall security of a substation by optimally placing security agent(s) on the automation system.

The vulnerability analysis is vital for safely running power grids. The simultaneous attack, which applies multiple failures simultaneously, does not consider the time domain in applying failures, and is limited to find unknown vulnerabilities of power grid networks. In this paper, we discover a new attack scenario, called the sequential attack, in which the failures of multiple network components (i.e., links/nodes) occur at different time. The sequence of such failures can be carefully arranged by attackers in order to maximize attack performances. This attack scenario leads to a new angle to analyze and discover vulnerabilities of grid networks. The IEEE 39 bus system is adopted as test benchmark to compare the proposed attack scenario with the existing simultaneous attack scenario. New vulnerabilities are found. For example, the sequential failure of two links, e.g., links 26 and 39 in the test benchmark, can cause 80% power loss, whereas the simultaneous failure of them causes less than 10% power loss. In addition, the sequential attack is demonstrated to be statistically stronger than the simultaneous attack. Finally, several metrics are compared and discussed in terms of whether they can be used to sharply reduce the search space for identifying strong sequential attacks.

The security issue of complex networks has drawn significant concerns recently. While pure topological analyzes from a network security perspective provide some effective techniques, their inability to characterize the physical principles requires a more comprehensive model to approximate failure behavior of a complex network in reality. In this paper, based on an extended topological metric, we proposed an approach to examine the vulnerability of a specific type of complex network, i.e., the power system, against cascading failure threats. The proposed approach adopts a model called extended betweenness that combines network structure with electrical characteristics to define the load of power grid components. By using this power transfer distribution factor-based model, we simulated attacks on different components (buses and branches) in the grid and evaluated the vulnerability of the system components with an extended topological cascading failure simulator. Influence of different loading and overloading situations on cascading failures was also evaluated by testing different tolerance factors. Simulation results from a standard IEEE 118-bus test system revealed the vulnerability of network components, which was then validated on a dc power flow simulator with comparisons to other topological measurements. Finally, potential extensions of the approach were also discussed to exhibit both utility and challenge in more complex scenarios and applications.

As information and communication networks are highly interconnected with the power grid, cyber security of the supervisory control and data acquisition (SCADA) system has become a critical issue in the power system. By intruding into the SCADA system via the remote access points, the attackers are able to eavesdrop critical data and reconfigure devices to trip the system breakers. The cyber attacks are able to impact the reliability of the power system through the SCADA system. In this paper, six cyber attack scenarios in the SCADA system are considered. A Bayesian attack graph model is used to evaluate the probabilities of successful cyber attacks on the SCADA system, which will result in breaker trips. A forced outage rate (FOR) model is proposed considering the frequencies of successful attacks on the generators and transmission lines. With increased FOR values resulted from the cyber attacks, the loss of load probabilities (LOLP) in reliability test system 79 (RTS79) are estimated. The results of the simulations demonstrate that the power system becomes less reliable as the frequency of successful attacks increases.

This paper investigates the vulnerability of power grids based on the complex networks combining the information entropy. The difference of current directions for a link is considered, and it is characterized by the information entropy. By combining the information entropy, the electrical betweenness is improved to evaluate the vulnerability of power grids. Attacking the link based on the largest electrical betweenness with the information can get the larger size of the largest cluster and the lower lost of loads, compared with the electrical betweenness without the information entropy. Finally, IEEE 118 bus system is tested to validate the effectiveness of the novel index to characterize the the vulnerability of power grids.

This paper proposes an analysis method of power grids vulnerability based on complex networks. The method effectively combines the degree and betweenness of nodes or lines into a new index. Through combination of the two indexes, the new index can help to analyze the vulnerability of power grids. Attacking the line of the new index can obtain a smaller size of the largest cluster and global efficiency than that of the pure degree index or betweenness index. Finally, the fault simulation results of IEEE 118 bus system show that the new index can reveal the vulnerability of power grids more effectively.