Cybersecurity-Enhanced Encrypted Control System Using Keyed-Homomorphic Public Key Encryption

Encrypted control systems are secure control methods that use the cryptographic properties of a specific homomorphic encryption scheme. This study proposes a cyberattack-detectable encrypted control system and validates its effectiveness using a proportional integration derivative (PID) position-control system for an industrial motor. The proposed encrypted control system uses a keyed-homomorphic public-key encryption scheme for real-time detection of cyberattacks, such as signal and control parameter falsification. Additionally, a novel quantizer is presented to reduce the computation cost and quantization-error effects on control performance. The quantizer demonstrated a significant improvement, reducing the computation time by 47.3 % compared to using our previous quantizer, and decreasing the quantization-error effect by 30.6 % compared to a widely-used gain-multiplying quantizer. Moreover, this study establishes conditions through a theorem to avoid an overflow in the proposed control system. Experimental validation confirms that the proposed control system effectively conceals the control operation, and the presented theorem aids in designing the quantization gains to prevent overflows. Notably, the results of falsification attack tests highlight that the proposed control system enables real-time detection of attacked components within control parameters and signals, representing a significant advantage of this study.