A hands-on modular laboratory environment to foster learning in control system security

Cyber-Physical Systems (CPSes) use computers to control and monitor physical processes in domains such as aviation, industrial automation, transportation, communication, water distribution, waste treatment, and power systems. These systems are increasingly connected with both private and public networks, making them susceptible to disruption or destruction by adversaries anywhere in the world. Attacks such as the Stuxnet worm have highlighted CPS vulnerabilities and motivated the development of CPS-specific defenses. The lab modules described in this paper arose from a project initially focused on technology to counter a Stuxnet-class attack on a CPS, and the suitability of this technology's commercial off-the-shelf components for undergraduate education was later realized. CPS security is not given much attention in undergraduate programs because networks and control systems are traditionally distinct areas of study. We have developed hands-on courseware to show how an adversary can compromise a CPS in a Stuxnet-like manner by tunneling through a layered sequence of network protocol and interface weaknesses. The courseware incorporates cyber-physical security concepts into effective learning modules that highlight real-world technical issues. This modular learning approach helps students understand CPS architectures and their vulnerabilities to cyber-attacks via experiential learning, and acquire practical skills through actively participating in the hands-on exercises. This courseware uses an economical and easily replicable hardware testbed, making this experience available as an adjunct to conventional embedded system, control system design, or cybersecurity courses. To assess the impact of this courseware, an evaluation survey is developed to measure the understanding of the unique aspects of CPS security. These modules leverage existing academic subjects, help students understand the sequence of steps taken by adversaries, and serve to bridge theory and practice.