Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 52, Issue 6, Pages 4926-4934Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2020.3025307
Keywords
Detectors; Kalman filters; Technological innovation; Covariance matrices; Estimation error; Symmetric matrices; Safety; Cyber-physical system (CPS) security; Kullback-Leibler divergence (KLD); reachable set; stealthy attack
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Funding
- National Natural Science Foundation of China [61873034, 61673023]
- Natural Science Foundation of Beijing Municipality [4182057]
- Open Subject of Beijing Intelligent Logistics System Collaborative Innovation Center [BILSCIC-2019KF-13]
- Graduate Technological Innovation Project of Beijing Institute of Technology [2019CX20031]
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This article studies the reachable set of cyber-physical systems subject to stealthy attacks and proposes an effective method for evaluating system security, validated through numerical simulations.
This article studies the reachable set of cyber-physical systems subject to stealthy attacks with the Kullback-Leibler divergence adopted to describe the stealthiness. The reachable set is defined as the set in which both the system state and the estimation error of the Kalman filter reside with a certain probability. The necessary and sufficient conditions of the reachable set being unbounded are given for the finite and infinite time cases, respectively. When the reachable set is bounded, an ellipsoidal outer approximation is obtained by solving a convex optimization problem. An application of this approximation to the safety evaluation is also given. A numerical simulation of an unmanned ground vehicle is presented to demonstrate the effectiveness of the proposed approach.
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