A Tutorial on Detecting Security Attacks on Cyber-Physical Systems

Cyber-physical systems (CPSs) have become targets for malicious adversaries, creating new challenges for attaining reliable CPS performance. Achieving CPS security requires tools which extend beyond what is offered in state of the art software and cyber security. In this tutorial, we consider a science of CPS security which combines tools from both cyber security and system theory to defend against adversarial behavior. We discuss realistic and intelligent attack models from an adversarial perspective and then present mechanisms for defenders to achieve resilience by recognizing and responding to such malicious behavior. The focus of this tutorial is particularly on the recognition and detection of attacks, which is the first and foremost step in achieving resilience and is a necessary prerequisite to any active response.