Biblio

The security control problem of cyber-physical system (CPS) under actuator attacks is studied in the paper. Considering the strict-feedback cyber-physical systems with external disturbance, a security control scheme is proposed by combining backstepping method and super-twisting sliding mode technology when the transmission control input signal of network layer is under false data injection(FDI) attack. Firstly, the unknown nonlinear function of the CPS is identified by Radial Basis Function Neural Network. Secondly, the backstepping method and super-twisting sliding mode algorithm are combined to eliminate the influence of actuator attack and ensure the robustness of the control system. Then, by Lyapunov stability theory, it is proved that the proposed control scheme can ensure that all signals in the closed-loop system are semi-global and ultimately uniformly bounded. Finally, the effectiveness of the proposed control scheme is verified by the inverted pendulum simulation.

In this paper, a data-driven security detection approach is proposed in a simple manner. The detector is designed to deal with false data injection attacks suffered by industrial cyber-physical systems with unknown model information. First, the attacks are modeled from the perspective of the generalized plant mismatch, rather than the operating data being tampered. Second, some subsystems are selected to reduce the design complexity of the detector, and based on them, an output estimator with iterative form is presented in a theoretical way. Then, a security detector is constructed based on the proposed estimator and its cost function. Finally, the effectiveness of the proposed approach is verified by simulations of a Western States Coordinated Council 9-bus power system.

Since the cyber and physical layers in the distribution system are deeply integrated, the traditional distribution system has gradually developed into the cyber-physical distribution system (CPDS), and the failures of the cyber layer will affect the reliable and safe operation of the whole distribution system. Therefore, this paper proposes an CPDS planning method considering the reliability of the cyber-physical system. First, the reliability evaluation model of CPDS is proposed. Specifically, the functional reliability model of the cyber layer is introduced, based on which the physical equipment reliability model is further investigated. Second, an optimal planning model of CPDS considering cyber-physical random failures is developed, which is solved using the Monte Carlo Simulation technique. The proposed model is tested on the modified IEEE 33-node distribution system, and the results demonstrate the effectiveness of the proposed method.

A methodology for studying the level of security for various types of CPS through the analysis of the consequences was developed during the research process. An analysis of the architecture of cyber-physical systems was carried out, vulnerabilities and threats of specific devices were identified, a list of possible information attacks and their consequences after the exploitation of vulnerabilities was identified. The object of research is models of cyber-physical systems, including IoT devices, microcomputers, various sensors that function through communication channels, organized by cyber-physical objects. The main subjects of this investigation are methods and means of security testing of cyber-physical systems (CPS). The main objective of this investigation is to update the problem of security in cyber-physical systems, to analyze the security of these systems. In practice, the testing methodology for the cyber-physical system “Smart Factory” was implemented, which simulates the operation of a real CPS, with different types of links and protocols used.

Due to the rapid development of cyber-physical systems, there are more and more security problems. The purpose of this work is to develop the concept of a knowledge base in the field of security of cyber-physical systems based on an ontological approach. To create the concept of a knowledge base, it was necessary to consider the system of a cyber-physical system and highlight its structural parts. As a result, the main concepts of the security of a cyber-physical system were identified and the concept of a knowledge base was drawn up, which in the future will help to analyze potential threats to cyber-physical systems.

As cyber-physical systems are becoming more wide spread, it is imperative to secure these systems. In the real world these systems produce large amounts of data. However, it is generally impractical to test security techniques on operational cyber-physical systems. Thus, there exists a need to have realistic systems and data for testing security of cyber-physical systems [1]. This is often done in testbeds and cyber ranges. Most cyber ranges and testbeds focus on traditional network systems and few incorporate cyber-physical components. When they do, the cyber-physical components are often simulated. In the systems that incorporate cyber-physical components, generally only the network data is analyzed for attack detection and diagnosis. While there is some study in using physical signals to detect and diagnosis attacks, this data is not incorporated into current testbeds and cyber ranges. This study surveys currents testbeds and cyber ranges and demonstrates a prototype testbed that includes cyber-physical components and sensor data in addition to traditional cyber data monitoring.

In this paper, we investigate the conditions for the existence of dynamically undetectable attacks and perfectly undetectable attacks. Then we provide a quantitative measure on the security for discrete-time linear time-invariant (LTI) systems under both actuator and sensor attacks based on undetectability. Finally, the computation of proposed security index is reduced to a min-cut problem for the structured systems by graph theory. Numerical examples are provided to illustrate the theoretical results.

This paper presents a secure reinforcement learning (RL) based control method for unknown linear time-invariant cyber-physical systems (CPSs) that are subjected to compositional attacks such as eavesdropping and covert attack. We consider the attack scenario where the attacker learns about the dynamic model during the exploration phase of the learning conducted by the designer to learn a linear quadratic regulator (LQR), and thereafter, use such information to conduct a covert attack on the dynamic system, which we refer to as doubly learning-based control and attack (DLCA) framework. We propose a dynamic camouflaging based attack-resilient reinforcement learning (ARRL) algorithm which can learn the desired optimal controller for the dynamic system, and at the same time, can inject sufficient misinformation in the estimation of system dynamics by the attacker. The algorithm is accompanied by theoretical guarantees and extensive numerical experiments on a consensus multi-agent system and on a benchmark power grid model.

Increasing penetration of distributed energy resources (DERs) in distribution networks expands the cyberattack surface. Moreover, the widely used standard protocols for communicating DER inverters such as Modbus is more vulnerable to data-integrity attacks and denial of service (DoS) attacks because of its native clear-text packet format. This paper proposes a distributed intrusion detection system (D-IDS) architecture and algorithms for detecting anomalies on the DER Modbus communication. We devised a model-based approach to define physics-based threshold bands for analog data points and transaction-based threshold bands for both the analog and discrete data points. The proposed IDS algorithm uses the model- based approach to develop Modbus-specific IDS rule sets, which can enhance the detection accuracy of the anomalies either by data-integrity attacks or maloperation on cyber-physical DER Modbus devices. Further, the IDS algorithm autogenerates the Modbus-specific IDS rulesets in compliance with various open- source IDS rule syntax formats, such as Snort and Suricata, for seamless integration and mitigation of semantic/syntax errors in the development and production environment. We considered the IEEE 13-bus distribution grid, including DERs, as a case study. We conducted various DoS type attacks and data-integrity attacks on the hardware-in-the-loop (HIL) CPS DER testbed at ISU to evaluate the proposed D-IDS. Consequently, we computed the performance metrics such as IDS detection accuracy, IDS detection rate, and end-to-end latency. The results demonstrated that 100% detection accuracy, 100% detection rate for 60k DoS packets, 99.96% detection rate for 80k DoS packets, and 0.25 ms end-to-end latency between DERs to Control Center.

Cyber-Physical Systems (CPS) are monitored and controlled by Supervisory Control and Data Acquisition (SCADA) systems that use advanced computing, sensors, control systems, and communication networks. At first, CPS and SCADA systems were protected and secured by isolation. However, with recent industrial technology advances, the increased connectivity of CPSs and SCADA systems to enterprise networks has uncovered them to new cybersecurity threats and made them a primary target for cyber-attacks with the potential of causing catastrophic economic, social, and environmental damage. Recent research focuses on new methodologies for risk modeling and assessment using game theory and reinforcement learning. This paperwork proposes to frame CPS security on two different levels, strategic and battlefield, by meeting ideas from game theory and Multi-Agent Reinforcement Learning (MARL). The strategic level is modeled as imperfect information, extensive form game. Here, the human administrator and the malware author decide on the strategies of defense and attack, respectively. At the battlefield level, strategies are implemented by machine learning agents that derive optimal policies for run-time decisions. The outcomes of these policies manifest as the utility at a higher level, where we aim to reach a Nash Equilibrium (NE) in favor of the defender. We simulate the scenario of a virus spreading in the context of a CPS network. We present experiments using the MiniCPS simulator and the OpenAI Gym toolkit and discuss the results.

This project develops techniques to protect against sensor attacks on cyber-physical systems. Specifically, a resilient version of the Kalman filtering technique accompanied with a watermarking approach is proposed to detect cyber-attacks and estimate the correct state of the system. The defense techniques are used in conjunction and validated on two case studies: i) an unmanned ground vehicle (UGV) in which an attacker alters the reference angle and ii) a Cube Satellite (CubeSat) in which an attacker modifies the orientation of the satellite degrading its performance. Based on this work, we show that the proposed techniques in conjunction achieve better resiliency and defense capability than either technique alone against spoofing and replay attacks.

Cyber-physical systems (CPS) are state-of-the-art communication environments that offer various applications with distinct requirements. However, security in CPS is a nonnegotiable concept, since without a proper security mechanism the applications of CPS may risk human lives, the privacy of individuals, and system operations. In this paper, we focus on PHY-layer security approaches in CPS to prevent passive eavesdropping attacks, and we propose an integration of physical layer operations to enhance security. Thanks to the McEliece cryptosystem, error injection is firstly applied to information bits, which are encoded with the forward error correction (FEC) schemes. Golay and Hamming codes are selected as FEC schemes to satisfy power and computational efficiency. Then obtained codewords are transmitted across reliable intermediate relays to the legitimate receiver. As a performance metric, the decoding frame error rate of the eavesdropper is analytically obtained for the fragmentary existence of significant noise between relays and Eve. The simulation results validate the analytical calculations, and the obtained results show that the number of low-quality channels and the selected FEC scheme affects the performance of the proposed model.

Software rejuvenation has been proposed as a strategy to protect cyber-physical systems (CSPs) against unanticipated and undetectable cyber attacks. The basic idea is to refresh the system periodically with a secure and trusted copy of the online software so as to eliminate all effects of malicious modifications to the run-time code and data. This paper considers software rejuvenation design from a control-theoretic perspective. Invariant sets for the Lyapunov function for the safety controller are used to derive bounds on the time that the CPS can operate in mission control mode before the software must be refreshed. With these results it can be guaranteed that the CPS will remain safe under cyber attacks against the run-time system. The approach is illustrated using simulation of the nonlinear dynamics of a quadrotor system. The concluding section discusses directions for further research.

The XML-based data format AutomationML enables vendor-independent exchange of design data between discipline-specific design tools. It is based on Computer Aided Engineering Exchange (CAEX) and hence, compatible with the W3C standards XMLEnc (XML encryption) and XMLDsig (XML signatures). However, despite the importance of protecting engineering data, so far no concept has been presented to ensure and control on a fine-grained level the confidentiality, authenticity and accessibility of information stored in AutomationML files. In this paper, we introduce a basic access control scheme for AutomationML that enables to define user read and write access for each component. Furthermore, the scheme supports non-repudiation based on a change history and so-called "signature chains". It is also capable of supporting views and restricted access to components. The scheme is based on cryptographic measures – i.e. cryptographic hashing, symmetric encryption, signatures, and asymmetric encryption – and enforces its access control mechanisms through encryption to protect against unauthorized reading, and through signature chains to protect against unauthorized manipulation and to ensure non-repudiation. This approach has the benefit to be independent of the underlying file and operating system, storage location, etc., and it keeps full CAEX-conformity by extending AutomationML.This concept can serve as basis for software tools that support AutomationML and want to integrate access control features directly into AutomationML.

Robotic vehicles (RVs), such as drones and ground rovers, are a type of cyber-physical systems that operate in the physical world under the control of computing components in the cyber world. Despite RVs' robustness against natural disturbances, cyber or physical attacks against RVs may lead to physical malfunction and subsequently disruption or failure of the vehicles' missions. To avoid or mitigate such consequences, it is essential to develop attack detection techniques for RVs. In this paper, we present a novel attack detection framework to identify external, physical attacks against RVs on the fly by deriving and monitoring Control Invariants (CI). More specifically, we propose a method to extract such invariants by jointly modeling a vehicle's physical properties, its control algorithm and the laws of physics. These invariants are represented in a state-space form, which can then be implemented and inserted into the vehicle's control program binary for runtime invariant check. We apply our CI framework to eleven RVs, including quadrotor, hexarotor, and ground rover, and show that the invariant check can detect three common types of physical attacks – including sensor attack, actuation signal attack, and parameter attack – with very low runtime overhead.