A Security Index for Actuators Based on Perfect Undetectability: Properties and Approximation

A novel security index based on the definition of perfect undetectability is proposed. The index is a tool that can help a control system operator to localize the most vulnerable actuators in the network. In particular, the security index of actuator i represents the minimal number of sensors and actuators that needs to be compromised in addition to i, such that a perfectly undetectable attack is possible. A method for computing this index for small scale systems is derived, and difficulties with the index once the system is of large scale are outlined. An upper bound for the index that overcomes these difficulties is then proposed. The theoretical developments are illustrated on a numerical example.