“…Security of CPS is no longer restricted to the cyber domain, and recent incidents such as the StuxNet malware [20] and the security flaws reported on modern cars [13,19] motivated the recent interest in security of CPS, (see for example, [1,6,26,41] and references therein). During the last decade, a number of security problems have been tackled by the control community, e.g., denial-of-service [8,14,34,45], replay attacks [27], man-in-the-middle attacks [40], false data injection [25], etc. This paper addresses the problem of state estimation when several sensors and actuators are under attack.…”