Resilient control of cyber-physical systems against intelligent attacker: a hierarchal stackelberg game approach

Abstract

This paper is concerned with the resilient control under denial-of-service attack launched by the intelligent attacker. The resilient control system is modelled as a multi-stage hierarchical game with a corresponding hierarchy of decisions made at cyber and physical layer, respectively. Specifically, the interaction in the cyber layer between different security agents is modelled as a static infinite Stackelberg game, while in the underlying physical layer the full-information H^∞ minimax control with package drops is modelled as a different Stackelberg game. Both games are solved sequentially, which is consistent with the actual situations. Finally, the proposed method is applied to the load frequency control of the power system, which demonstrates its effectiveness.

Keywords:

• resilient control
• cyber security
• intelligent attacker
• stackelberg game
• H^∞ minimax control

Acknowledgements

The authors would like to show the deepest gratitude to Professor Tamer Başar, who has provided lab facilities and valuable guidance during the writing of this paper.

Additional information

Funding

This work is jointly supported by National Science Foundation of China [grant number 61210013 and 61327809] and Beijing Natural Science Foundation [grant number 4142028].

Notes on contributors

Yuan Yuan

Fuchun Sun received his Ph.D. degree from the Department of Computer Science and Technology, Tsinghua University, Beijing, China, in 1998. Now he is a full professor in this department. He is also an associate editor of the IEEE Transactions on Fuzzy Systems and Mechatronics, and member of the Editorial Board of the International Journal of Robotics and Autonomous Systems, International Journal of Control, Automation, and Systems, Science in China Series F: Information Sciences and Acta Automatica Sinica. His research interests include intelligent control, neural networks, fuzzy systems and robot teleoperation.

Fuchun Sun

Huaping Liu received his Ph.D. degree from the Department of Computer Science and Technology, Tsinghua University, Beijing, China, in 2004. He is currently an associate professor in the Department of Computer Science and Technology at Tsinghua University. His research interests include intelligent control and robotics.

Huaping Liu

Yuan Yuan is currently a Ph.D. student from the Department of Computer Science and Technology, Tsinghua University, Beijing, China. His research interests include resilient control, networked control and game theory.