Secure Control of Networked Control Systems Using Dynamic Watermarking

We here investigate the secure control of networked control systems developing a new dynamic watermarking (DW) scheme. First, the weaknesses of the conventional DW scheme are revealed, and the tradeoff between the effectiveness of false data injection attack (FDIA) detection and system performance loss is analyzed. Second, we propose a new DW scheme, and its attack detection capability is interrogated using the additive distortion power of a closed-loop system. Furthermore, the FDIA detection effectiveness of the closed-loop system is analyzed using auto/cross-covariance of the signals, where the positive correlation between the FDIA detection effectiveness and the watermarking intensity is measured. Third, the tolerance capacity of FDIA against the closed-loop system is investigated, and theoretical analysis shows that the system performance can be recovered from FDIA using our new DW scheme. Finally, the experimental results from a networked inverted pendulum system demonstrate the validity of our proposed scheme.