On the Design of Security-Guaranteeing Dynamic Watermarks

Satchidanandan, Bharadwaj

doi:10.1109/lcsys.2019.2925278

Cited by 21 publications

(13 citation statements)

References 18 publications

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“…Researchers are studying different aspects of securing the CPS against attacks on the physical layer. The primary research problems are the study of different attack strategies [8], [9], attack resilient state estimation [10]- [12], attack detection strategies [1], [3], [13]- [19], etc. In one approach of attack detection schemes, physical watermarking signals are added to the control inputs and the authenticity of the received observations is checked by various statistical tests.…”

Section: A Related Workmentioning

confidence: 99%

Quickest Detection of Deception Attacks on Cyber-Physical Systems with a Parsimonious Watermarking Policy

Naha¹,

Teixeira²,

Åhlén³

et al. 2022

Preprint

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The addition of a physical watermarking signal to the control input increases the detection probability of data deception attacks at the expense of increased control cost. In this paper, we propose a parsimonious policy to reduce the average number of watermarking events when the attack is not present, which in turn reduces the control cost. We model the system as a stochastic optimal control problem and apply the dynamic programming to minimize the average detection delay (ADD) for fixed upper bounds on false alarm rate (FAR) and increased control cost. The optimal solution results in a two threshold policy on the posterior probability of attack, which is derived from the Shiryaev statistics for sequential change detection assuming the change point is a random variable with a geometric distribution. We derive approximate expressions of ADD and FAR applying the non-linear renewal theory. The relationship between the average number of watermarking added before the attack and the increase in control cost is also derived. We design the optimal watermarking that maximizes the Kullback-Leibler divergence for a fixed increase in the control cost. Simulation studies are performed to illustrate and validate the theoretical results.

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Section: A Related Workmentioning

confidence: 99%

Quickest Detection of Deception Attacks on Cyber-Physical Systems with a Parsimonious Watermarking Policy

Naha¹,

Teixeira²,

Åhlén³

et al. 2022

Preprint

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“…While the dynamic watermarking has been studied for linear time invariant system with Gaussian disturbance, it has also been analyzed in the system with arbitrary non-Gaussian noise [36], linear time-varying systems [37], [38], and nonlinear systems [34], [39]. For example, [40] considered the linear system case when the covariance matrix of the measurement noise is unknown or slowly varying over the time.…”

Section: A Related Workmentioning

confidence: 99%

A Dynamic Watermarking Algorithm for Finite Markov Decision Problems

Tang¹,

Song²,

Gupta³

2021

Preprint

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Dynamic watermarking, as an active intrusion detection technique, can potentially detect replay attacks, spoofing attacks, and deception attacks in the feedback channel for control systems. In this paper, we develop a novel dynamic watermarking algorithm for finite-state finite-action Markov decision processes and present upper bounds on the mean time between false alarms, and the mean delay between the time an attack occurs and when it is detected. We further compute the sensitivity of the performance of the control system as a function of the watermark. We demonstrate the effectiveness of the proposed dynamic watermarking algorithm by detecting a spoofing attack in a sensor network system.

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“…A typical example of additive watermarking is termed as physical watermarking or dynamic watermarking (DW). Their basic concept is that the control law is actively encrypted by injecting certain probing signal (e.g., an independent identically distributed [12], [15], [16] or stationary [17] Gaussian signal), and specific tests (e.g., χ 2 test [12] or DW tests [18]- [20]) are performed to infer a malicious activity. Physical watermarking [12] is designed particularly for preventing replay attack, which is also driven to investigate the tradeoff between the watermarking intensity and replay attack detection effectiveness.…”

Section: Introductionmentioning

confidence: 99%

Secure Control of Networked Control Systems Using Dynamic Watermarking

Du¹,

Zhang²,

Li³

et al. 2021

Preprint

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We here investigate secure control of networked control systems developing a new dynamic watermarking (DW) scheme. Firstly, 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 analysed. Secondly, 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 analysed using auto/cross covariance of the signals, where the positive correlation between the FDIA detection effectiveness and the watermarking intensity is measured. Thirdly, 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, experimental results from a networked inverted pendulum system demonstrate the validity of our proposed scheme.

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On the Design of Security-Guaranteeing Dynamic Watermarks

Cited by 21 publications

References 18 publications

Quickest Detection of Deception Attacks on Cyber-Physical Systems with a Parsimonious Watermarking Policy

Quickest Detection of Deception Attacks on Cyber-Physical Systems with a Parsimonious Watermarking Policy

A Dynamic Watermarking Algorithm for Finite Markov Decision Problems

Secure Control of Networked Control Systems Using Dynamic Watermarking

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