Robust detection and reconstruction of state and sensor attacks for cyber-physical systems using sliding modes

The problem of detection and reconstruction of cyber-attacks corrupting states and/or outputs of a linear cyber-physical system is addressed. Robust state/sensor attack observers are designed able both to work as detection monitors with guaranteed performances, and to reconstruct the attacks within a finite-time. Detection and reconstruction are performed robustly with respect to bounded modelling errors possibly affecting the state equation. Compensation of attacks is also addressed for square plants. An extensive simulation study using test-cases taken from the literature is shown to support the theoretical findings.