Biblio

The cluster-featured conurbation cyber-physical power system (CPPS) interconnected with tie-lines facing the hazards from catastrophic cascading failures. To achieve better real-time performance, enhance the autonomous ability and improve resilience for the clustered conurbation CPPS, the decentralized cyber structure and the corresponding distributed security control strategy is proposed. Facing failures, the real-time security control is incorporated to mitigate cascading failures. The distributed security control problem is solved reliably based on alternating direction method of multipliers (ADMM). The system overall resilience degradation index(SORDI) adopted reflects the influence of cascading failures on both the topological integrity and operational security. The case study illustrates the decentralized cyber layer and distributed control will decrease the data congestion and enhance the autonomous ability for clusters, thus perform better effectiveness in mitigating the cascading failures, especially in topological perspective. With the proposed distributed security control strategy, curves of SORDI show more characteristics of second-order percolation transition and the cascading failure threshold increase, which is more efficient when the initial failure size is near the threshold values or step-type inflection point. Because of the feature of geological aggregation under cluster-based attack, the efficiency of the cluster-focused distributed security control strategy is more obvious than other nodes attack circumstances.

Power systems automation and communication standards are crucial for the transition of the conventional power system towards a smart grid. The IEC 61850 standard is widely used for substation automation and protection. It enables real-time communication and data exchange between critical substation automation devices. IEC 61850 serves as the foundation for open communication and data exchange for digital substations of the smart grid. However, IEC 61850 has cyber security vulnerabilities that can be exploited with a man-in-the-middle attack. Such coordinated cyber attacks against the protection system in digital substations can disconnect generation and transmission lines, causing cascading failures. In this paper, we demonstrate a cyber attack involving the Generic Object-Oriented Substation Event (GOOSE) protocol of IEC 61850. This is achieved by exploiting the cyber security vulnerabilities in the protocol and injecting spoofed GOOSE data frames into the substation communication network at the bay level. The cyber attack leads to tripping of multiple protective relays in the power grid, eventually resulting in a blackout. The attack model and impact on system dynamics are verified experimentally through hardware-in-the-loop simulations using commercial relays and Real-Time Digital Simulator (RTDS).

Power system automation and communication standards are spearheading the power system transition towards a smart grid. IEC 61850 is one such standard, which is widely used for substation automation and protection. It enables real-time communication and data exchange between critical substation automation and protection devices within digital substations. However, IEC 61850 is not cyber secure. In this paper, we demonstrate the dangerous implications of not securing IEC 61850 standard. Cyber attacks may exploit the vulnerabilities of the Sampled Values (SV) and Generic Object-Oriented Substation Event (GOOSE) protocols of IEC 61850. The cyber attacks may be realised by injecting spoofed SV and GOOSE data frames into the substation communication network at the bay level. We demonstrate that such cyber attacks may lead to obstruction or tripping of multiple protective relays. Coordinated cyber attacks against the protection system in digital substations may cause generation and line disconnections, triggering cascading failures in the power grid. This may eventually result in a partial or complete blackout. The attack model, impact on system dynamics and cascading failures are veri ed experimentally through a proposed cyber-physical experimental framework that closely resembles real-world conditions within a digital substation, including Intelligent Electronic Devices (IEDs) and protection schemes. It is implemented through Hardware-in-the-Loop (HIL) simulations of commercial relays with a Real-Time Digital Simulator (RTDS).

Traditionally, vulnerability is the level of degradation caused by failures or disturbances, and resilience is the ability to recover after a high-impact event. This paper presents a topological procedure based on graph theory to evaluate the vulnerability and resilience of power grids. A cascading failures model is developed by eliminating lines both deliberately and randomly, and four restoration strategies inspired by the network approach are proposed. In the two cases, the degradation and recovery of the electrical infrastructure are quantified through four centrality measures. Here, an index called flow-capacity is proposed to measure the level of network overload during the iterative processes. The developed sequential framework was tested on a graph of 600 nodes and 1196 edges built from the 400 kV high-voltage power system in Spain. The conclusions obtained show that the statistical graph indices measure different topological aspects of the network, so it is essential to combine the results to obtain a broader view of the structural behaviour of the infrastructure.

Although there has been notable progress in modeling cascading failures in power grids, few works included using machine learning algorithms. In this paper, cascading failures that lead to massive blackouts in power grids are predicted and classified into no, small, and large cascades using machine learning algorithms. Cascading-failure data is generated using a cascading failure simulator framework developed earlier. The data set includes the power grid operating parameters such as loading level, level of load shedding, the capacity of the failed lines, and the topological parameters such as edge betweenness centrality and the average shortest distance for numerous combinations of two transmission line failures as features. Then several machine learning algorithms are used to classify cascading failures. Further, linear regression is used to predict the number of failed transmission lines and the amount of load shedding during a cascade based on initial feature values. This data-driven technique can be used to generate cascading failure data set for any real-world power grids and hence, power-grid engineers can use this approach for cascade data generation and hence predicting vulnerabilities and enhancing robustness of the grid.

Major blackouts are due to cascading failures in power systems. These failures usually occur at vulnerable links of the network. To identify these, indicators have already been defined using complex network theory. However, most of these indicators only depend on the topology of the grid; they fail to detect the weak links. We introduce a new metric to identify the vulnerable lines, based on the load-flow equations and the grid geometry. Contrary to the topological indicators, ours is built from the electrical equations and considers the location and magnitude of the loads and of the power generators. We apply this new metric to the IEEE 118-bus system and compare its prediction of weak links to the ones given by an industrial software. The agreement is very well and shows that using our indicator a simple examination of the network and its generator and load distribution suffices to find the weak lines.

The cyber-physical security of smart grid is of great importance since it directly concerns the normal operating of a system. Recently, researchers found that organized sequential attacks can incur large-scale cascading failure to the smart grid. In this paper, we focus on the line-switching sequential attack, where the attacker aims to trip transmission lines in a designed order to cause significant system failures. Our objective is to identify the critical line-switching attack sequence, which can be instructional for the protection of smart grid. For this purpose, we develop an evolutionary computation based vulnerability analysis framework, which employs particle swarm optimization to search the critical attack sequence. Simulation studies on two benchmark systems, i.e., IEEE 24 bus reliability test system and Washington 30 bus dynamic test system, are implemented to evaluate the performance of our proposed method. Simulation results show that our method can yield a better performance comparing with the reinforcement learning based approach proposed in other prior work.

Cascading failure, which can be triggered by both physical and cyber attacks, is among the most critical threats to the security and resilience of power grids. In current literature, researchers investigate the issue of cascading failure on smart grids mainly from the attacker's perspective. From the perspective of a grid defender or operator, however, it is also an important issue to restore the smart grid suffering from cascading failure back to normal operation as soon as possible. In this paper, we consider cascading failure in conjunction with the restoration process involving repairing of the failed nodes/links in a sequential fashion. Based on a realistic power flow cascading failure model, we exploit a Q-learning approach to develop a practical and effective policy to identify the optimal way of sequential restorations for large-scale smart grids. Simulation results on three power grid test benchmarks demonstrate the learning ability and the effectiveness of the proposed strategy.

Large-scale failures in communication networks due to natural disasters or malicious attacks can severely affect critical communications and threaten lives of people in the affected area. In the absence of a proper communication infrastructure, rescue operation becomes extremely difficult. Progressive and timely network recovery is, therefore, a key to minimizing losses and facilitating rescue missions. To this end, we focus on network recovery assuming partial and uncertain knowledge of the failure locations. We proposed a progressive multi-stage recovery approach that uses the incomplete knowledge of failure to find a feasible recovery schedule. Next, we focused on failure recovery of multiple interconnected networks. In particular, we focused on the interaction between a power grid and a communication network. Then, we focused on network monitoring techniques that can be used for diagnosing the performance of individual links for localizing soft failures (e.g. highly congested links) in a communication network. We studied the optimal selection of the monitoring paths to balance identifiability and probing cost. Finally, we addressed, a minimum disruptive routing framework in software defined networks. Extensive experimental and simulation results show that our proposed recovery approaches have a lower disruption cost compared to the state-of-the-art while we can configure our choice of trade-off between the identifiability, execution time, the repair/probing cost, congestion and the demand loss.

Automatic optimal response systems are essential for preserving power system resilience and ensuring faster recovery from emergency under cyber compromise. Numerous research works have developed such response engine for cyber and physical system recovery separately. In this paper, we propose a novel cyber-physical decision support system, SCORE, that computes optimal actions considering pure and hybrid cyber-physical states, using Markov Decision Process (MDP). Such an automatic decision making engine can assist power system operators and network administrators to make a faster response to prevent cascading failures and attack escalation respectively. The hybrid nature of the engine makes the reward and state transition model of the MDP unique. Value iteration and policy iteration techniques are used to compute the optimal actions. Tests are performed on three and five substation power systems to recover from attacks that compromise relays to cause transmission line overflow. The paper also analyses the impact of reward and state transition model on computation. Corresponding results verify the efficacy of the proposed engine.

The risk of large-scale blackouts and cascading failures in power grids can be due to vulnerable transmission lines and lack of proper remediation techniques after recognizing the first failure. In this paper, we assess the vulnerability of a system using fault chain theory and a power flow-based method, and calculate the probability of large-scale blackout. Further, we consider a Remedial Action Scheme (RAS) to reduce the vulnerability of the system and to harden the critical components against intentional attacks. To identify the most critical lines more efficiently, a new vulnerability index is presented. The effectiveness of the new index and the impact of the applied RAS is illustrated on the IEEE 14-bus test system.

Integrated cyber-physical systems (CPSs), such as the smart grid, are becoming the underpinning technology for major industries. A major concern regarding such systems are the seemingly unexpected large scale failures, which are often attributed to a small initial shock getting escalated due to intricate dependencies within and across the individual counterparts of the system. In this paper, we develop a novel interdependent system model to capture this phenomenon, also known as cascading failures. Our framework consists of two networks that have inherently different characteristics governing their intra-dependency: i) a cyber-network where a node is deemed to be functional as long as it belongs to the largest connected (i.e., giant) component; and ii) a physical network where nodes are given an initial flow and a capacity, and failure of a node results with redistribution of its flow to the remaining nodes, upon which further failures might take place due to overloading. Furthermore, it is assumed that these two networks are inter-dependent. For simplicity, we consider a one-to-one interdependency model where every node in the cyber-network is dependent upon and supports a single node in the physical network, and vice versa. We provide a thorough analysis of the dynamics of cascading failures in this interdependent system initiated with a random attack. The system robustness is quantified as the surviving fraction of nodes at the end of cascading failures, and is derived in terms of all network parameters involved. Analytic results are supported through an extensive numerical study. Among other things, these results demonstrate the ability of our model to capture the unexpected nature of large-scale failures, and provide insights on improving system robustness.

Reliable operation of power systems is a primary challenge for the system operators. With the advancement in technology and grid automation, power systems are becoming more vulnerable to cyber-attacks. The main goal of adversaries is to take advantage of these vulnerabilities and destabilize the system. This paper describes a game-theoretic approach to attacker / defender modeling in power systems. In our models, the attacker can strategically identify the subset of substations that maximize damage when compromised. However, the defender can identify the critical subset of substations to protect in order to minimize the damage when an attacker launches a cyber-attack. The algorithms for these models are applied to the standard IEEE-14, 39, and 57 bus examples to identify the critical set of substations given an attacker and a defender budget.

With the integration of computing, communication, and physical processes, the modern power grid is becoming a large and complex cyber physical power system (CPPS). This trend is intended to modernize and improve the efficiency of the power grid, yet it makes the CPPS vulnerable to potential cascading failures caused by cyber-attacks, e.g., the attacks that are originated by the cyber network of CPPS. To prevent these risks, it is essential to analyze how cyber-attacks can be conducted against the CPPS and how they can affect the power systems. In light of that General Packet Radio Service (GPRS) has been widely used in CPPS, this paper provides a case study by examining possible cyber-attacks against the cyber-physical power systems with GPRS-based SCADA system. We analyze the vulnerabilities of GPRS-based SCADA systems and focus on DoS attacks and message spoofing attacks. Furthermore, we show the consequence of these attacks against power systems by a simulation using the IEEE 9-node system, and the results show the validity of cascading failures propagated through the systems under our proposed attacks.

Reliable operation of electrical power systems in the presence of multiple critical N - k contingencies is an important challenge for the system operators. Identifying all the possible N - k critical contingencies to design effective mitigation strategies is computationally infeasible due to the combinatorial explosion of the search space. This paper describes two heuristic algorithms based on the iterative pruning of the candidate contingency set to effectively and efficiently identify all the critical N - k contingencies resulting in system failure. These algorithms are applied to the standard IEEE-14 bus system, IEEE-39 bus system, and IEEE-57 bus system to identify multiple critical N - k contingencies. The algorithms are able to capture all the possible critical N - k contingencies (where 1 ≤ k ≤ 9) without missing any dangerous contingency.

Enhancing the security and resilience of interdependent infrastructures is crucial. In this paper, we establish a theoretical framework based on Markov decision processes (MDPs) to design optimal resiliency mechanisms for interdependent infrastructures. We use MDPs to capture the dynamics of the failure of constituent components of an infrastructure and their cyber-physical dependencies. Factored MDPs and approximate linear programming are adopted for an exponentially growing dimension of both state and action spaces. Under our approximation scheme, the optimally distributed policy is equivalent to the centralized one. Finally, case studies in a large-scale interdependent system demonstrate the effectiveness of the control strategy to enhance the network resilience to cascading failures.

Information and communication technologies have augmented interoperability and rapidly advanced varying industries, with vast complex interconnected networks being formed in areas such as safety-critical systems, which can be further categorised as critical infrastructures. What also must be considered is the paradigm of the Internet of Things which is rapidly gaining prevalence within the field of wireless communications, being incorporated into areas such as e-health and automation for industrial manufacturing. As critical infrastructures and the Internet of Things begin to integrate into much wider networks, their reliance upon communication assets by third parties to ensure collaboration and control of their systems will significantly increase, along with system complexity and the requirement for improved security metrics. We present a critical analysis of the risk assessment methods developed for generating attack graphs. The failings of these existing schemas include the inability to accurately identify the relationships and interdependencies between the risks and the reduction of attack graph size and generation complexity. Many existing methods also fail due to the heavy reliance upon the input, identification of vulnerabilities, and analysis of results by human intervention. Conveying our work, we outline our approach to modelling interdependencies within large heterogeneous collaborative infrastructures, proposing a distributed schema which utilises network modelling and attack graph generation methods, to provide a means for vulnerabilities, exploits and conditions to be represented within a unified model.

Smart grids, where cyber infrastructure is used to make power distribution more dependable and efficient, are prime examples of modern infrastructure systems. The cyber infrastructure provides monitoring and decision support intended to increase the dependability and efficiency of the system. This comes at the cost of vulnerability to accidental failures and malicious attacks, due to the greater extent of virtual and physical interconnection. Any failure can propagate more quickly and extensively, and as such, the net result could be lowered reliability. In this paper, we describe metrics for assessment of two phases of smart grid operation: the duration before a failure occurs, and the recovery phase after an inevitable failure. The former is characterized by reliability, which we determine based on information about cascading failures. The latter is quantified using resilience, which can in turn facilitate comparison of recovery strategies. We illustrate the application of these metrics to a smart grid based on the IEEE 9-bus test system.

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.