Safety, Security and Privacy for Cyber-Physical Systems (Lecture Notes in Control and Information Sciences, 486)

✍ Scribed by Riccardo M.G. Ferrari (editor), André M. H. Teixeira (editor)

• Publisher: Springer
• Year: 2021
• Tongue: English
• Leaves: 392
• Category: Library

✦ Synopsis

This book presents an in-depth overview of recent work related to the safety, security, and privacy of cyber-physical systems (CPSs). It brings together contributions from leading researchers in networked control systems and closely related fields to discuss overarching aspects of safety, security, and privacy; characterization of attacks; and solutions to detecting and mitigating such attacks.

The book begins by providing an insightful taxonomy of problems, challenges and techniques related to safety, security, and privacy for CPSs. It then moves through a thorough discussion of various control-based solutions to these challenges, including cooperative fault-tolerant and resilient control and estimation, detection of attacks and security metrics, watermarking and encrypted control, privacy and a novel defense approach based on deception. The book concludes by discussing risk management and cyber-insurance challenges in CPSs, and by presentingthe future outlook for this area of research as a whole.

Its wide-ranging collection of varied works in the emerging fields of security and privacy in networked control systems makes this book a benefit to both academic researchers and advanced practitioners interested in implementing diverse applications in the fields of IoT, cooperative autonomous vehicles and the smart cities of the future.

✦ Table of Contents

Contents
1 Introduction to the Book
1.1 Motivation and Objectives
1.2 Safety, Security, and Privacy: A Taxonomy
1.2.1 The Security Triad
1.2.2 The Attack Triad
1.2.3 The Mitigation Triad
1.3 Structure and Content
References
2 Fault Tolerance in Networked Control Systems by Flexible Task Assignment
2.1 Introduction to Fault-Tolerant Networked Control Systems
2.1.1 Networked Control Systems
2.1.2 Contribution to Fault-Tolerant Networked Control Systems
2.1.3 Notation
2.2 Flexible Task Assignment Problem
2.2.1 Description of the Subsystems
2.2.2 Description of the Controllers
2.2.3 Description of the Cooperative Task
2.3 Method for Fault-Tolerant Task Assignment
2.3.1 Consistent Subtasks
2.3.2 Satisfiable Functions
2.3.3 Autonomy of the Subsystems
2.3.4 Summary: Design Steps for Fault-Tolerant Task Assignment
2.4 Example: Transportation System
2.4.1 Cooperative Task
2.4.2 Active and Passive Subsystems
2.4.3 Scenario 1: Fault-Free Subsystems
2.4.4 Scenario 2: Faulty Subsystem
2.5 Conclusions
References
3 Resilient Control Under Denial-of-Service: Results and Research Directions
3.1 Introduction
3.2 Stability Under Denial-of-Service
3.2.1 Basic Framework
3.2.2 Input-to-State Stability Under DoS
3.2.3 Research Directions: Scheduling Design and Min–Max Problems
3.3 Robust Control Design
3.3.1 Control Schemes Based on Finite-Time Observers
3.3.2 Performant Observers and Packetized Control
3.4 Distributed Systems
3.4.1 DoS-Resilient Distributed Consensus
3.4.2 Complex Network Systems and Critical Links
3.5 Conclusions
References
4 Stealthy False Data Injection Attacks in Feedback Systems Revisited
4.1 Introduction
4.2 Modeling and Assumptions
4.2.1 System Model
4.2.2 Operator and Attacker Models
4.3 False Data Injection Attacks
4.3.1 Sensor Attacks
4.3.2 Actuator Attacks
4.4 Case Study
4.4.1 Exponential Sensor Attack
4.4.2 Sum-of-Exponentials Sensor Attack
4.4.3 Sinusoidal Actuator Attack
4.5 Defenses
4.6 Conclusion
References
5 Detection of Attacks in Cyber-Physical Systems: Theory and Applications
5.1 Introduction
5.2 Problem Formulation
5.3 Stealthiness in Stochastic Systems
5.4 Fundamental Performance Limitations
5.4.1 Converse
5.4.2 Achievability for Right-Invertible Systems
5.4.3 Achievability for Non-Right-Invertible Systems
5.5 Numerical Results
5.6 Conclusion
References
6 Security Metrics for Control Systems
6.1 Introduction
6.2 Closed-Loop System Under Cyber- and Physical Attacks
6.2.1 Attack Scenario and Adversary Model
6.2.2 Toward Metrics for Security Analysis
6.3 Classical Metrics in Robust Control and Fault Detection
6.3.1 The mathcalHinfty Norm
6.3.2 The mathcalH- Index
6.3.3 Mixing mathcalHinfty and mathcalH-
6.4 A Security Metric for Analysis and Design: The Output-to-Output Gain
6.4.1 Security Analysis with the Output-to-Output Gain
6.4.2 Security Metrics-Based Design of Controller and Observer
6.5 Conclusions
References
7 The Secure State Estimation Problem
7.1 Introduction
7.2 The Secure State Estimation Problem
7.2.1 Notation
7.2.2 Threat Model and Attack Assumptions
7.2.3 Attack Detection and Secure State Estimation Problems
7.3 The s-Sparse Observability Condition
7.3.1 Sufficient and Necessary Conditions for Linear Time-Invariant Systems
7.3.2 Extension to Nonlinear Systems—An Coding-Theoretic Interpretation
7.4 Algorithms for Attack Detection and Secure State Estimation
7.4.1 Attack Detection Algorithm
7.4.2 Secure State Estimator: Brute Force Search
7.4.3 Secure State Estimator: Satisfiability Modulo Convex Programming
7.4.4 Numerical Evaluation
7.5 Special Cases for Polynomial-Time Secure State Estimation
7.6 Conclusions and Future Work
References
8 Active Detection Against Replay Attack: A Survey on Watermark Design for Cyber-Physical Systems
8.1 Introduction
8.2 Problem Setup
8.2.1 System Description
8.2.2 Attack Model
8.3 Physical Watermark Scheme
8.3.1 LQG Performance Loss
8.3.2 Detection Performance
8.3.3 The Trade-Off Between Control and Detection Performance
8.4 Extensions of Physical Watermark Scheme
8.4.1 A Non-IID Watermarking Design Approach
8.4.2 An Online Design Approach
8.4.3 A Multiplicative Watermarking Design
8.5 Conclusion and Future Work
References
9 Detection of Cyber-Attacks: A Multiplicative Watermarking Scheme
9.1 Introduction
9.2 Problem Formulation
9.2.1 False Data Injection Attacks
9.3 Multiplicative Watermarking Scheme
9.3.1 Watermarking Scheme: A Hybrid System Approach
9.3.2 Watermarking Scheme Design Principles
9.3.3 Stability Analysis
9.3.4 An Application Example
9.4 Detection of Stealthy False Data Injection Attacks
9.5 Numerical Study
9.6 Conclusions
References
10 Differentially Private Anomaly Detection for Interconnected Systems
10.1 Introduction
10.1.1 Contributions
10.1.2 Related Work
10.2 Problem Formulation
10.2.1 Differential Privacy
10.2.2 The Case of an Isolated System
10.2.3 The Case of Interconnected Systems
10.3 Diagnosis in Absence of Privacy Constraint
10.3.1 Model-Based Residual Generation
10.3.2 A Probabilistic Detection Threshold
10.3.3 Detectability Analysis
10.4 Privacy and Its Cost
10.4.1 Privacy Mechanism
10.4.2 Residual and Threshold Generation Under Privacy
10.4.3 Numerical Study
10.5 Conclusions
References
11 Remote State Estimation in the Presence of an Eavesdropper
11.1 Introduction
11.2 System Model
11.3 Covariance-Based Measure of Security
11.3.1 Eavesdropper Error Covariance Known at Remote Estimator
11.3.2 Eavesdropper Error Covariance Unknown at Remote Estimator
11.3.3 Infinite Horizon
11.4 Information-Based Measure of Security
11.4.1 Eavesdropper Error Covariance Known at Remote Estimator
11.4.2 Eavesdropper Error Covariance Unknown at Remote Estimator
11.4.3 Infinite Horizon
11.5 Numerical Studies
11.5.1 Finite Horizon
11.5.2 Infinite Horizon
11.6 Conclusion
References
12 Secure Networked Control Systems Design Using Semi-homomorphic Encryption
12.1 Introduction
12.2 Preliminaries and Notations
12.3 Backgroud on Paillier Encryption
12.3.1 Fixed-Point Operations
12.3.2 Paillier Encryption
12.4 NCS Architecture and Problem Statement
12.4.1 Static Output Feedback
12.4.2 Combination of Basis Functions
12.4.3 Two-Server Structure with State Measurement Only
12.5 Main Result
12.5.1 Robust Stabilization
12.5.2 Disturbance Free Case
12.5.3 Security Enhancement
12.6 Homogeneous Control Systems
12.7 An Illustrative Example
12.8 Conclusions and Future Work
12.9 Proof of Theorem 12.1
12.10 Proof of Theorem 12.2
References
13 Deception-as-Defense Framework for Cyber-Physical Systems
13.1 Introduction
13.2 Deception Theory in Literature
13.2.1 Economics Literature
13.2.2 Engineering Literature
13.3 Deception-as-Defense Framework
13.4 Game Formulation
13.5 Quadratic Costs and Information of Interest
13.5.1 Gaussian Information of Interest
13.6 Communication Systems
13.7 Control Systems
13.8 Uncertainty in the Uninformed Agent's Objective
13.9 Partial or Noisy Measurements
13.10 Conclusion
References
14 Cyber-Risk: Cyber-Physical Systems Versus Information Technology Systems
14.1 Introduction
14.2 Cyber-Attacks Against ITS and CPS
14.2.1 Attacks Against ITS
14.2.2 Attacks Against CPS
14.3 Cyber-Risks: Byproduct of the IT Revolution
14.3.1 Vulnerabilities
14.3.2 Threats
14.3.3 Impact
14.3.4 Comparing Cyber-Risks with Other Risks
14.4 Cyber-Risks on CPS
14.4.1 Obstacles to Securing CPSs
14.5 Facing the Risks
14.5.1 Risk Assessment/Metrics
14.6 Risk Treatment
14.6.1 Diversification
14.6.2 Decisions Under Uncertainty
14.7 Evaluating Risks
14.7.1 Experimental Studies
14.7.2 Observational Studies
14.7.3 Measuring the Impact of Risk Treatment
14.7.4 Estimating Risks: Detecting and Correcting Biased Estimates
14.7.5 Combining Risk Reduction with Risk Transfer via Insurance
14.8 Conclusions
References
15 Cyber-Insurance
15.1 Introduction
15.2 Cyber-Insurance
15.2.1 Insurance of Material Versus Cyber-Assets
15.2.2 Cyber-Insurance Ecosystem
15.2.3 Limitations of Cyber-Insurance Ecosystem
15.3 Introduction to Insurance
15.3.1 Types of Insurance
15.3.2 Model of Risk Pooling
15.3.3 Premium Calculation Principles
15.3.4 Insurance Markets and Reinsurance
15.4 Insurance in Practice
15.4.1 Agent Preferences and Insurance Instruments
15.4.2 Imperfections of Insurance Markets
15.4.3 Regulation
15.5 Extreme Events
15.5.1 Modeling Extreme Events
15.5.2 Managing Extreme Risks
15.5.3 Case-Study: Effects of Insurance on Security
15.6 Concluding Remarks
References
16 Concluding Remarks and Future Outlook
16.1 Looking Back: The Contributions of This Book
16.1.1 Deception Attacks and Loss of Integrity
16.1.2 Disclosure Attacks and Loss of Confidentiality
16.1.3 Disruption Attacks and Loss of Availability
16.1.4 General Contributions
16.2 Looking Forward: Future Outlook
16.2.1 Specific Areas to Explore
16.2.2 General Advancements
References
Index