Attack Detection for Networked Control Systems Using Event-Triggered Dynamic Watermarking

Dynamic watermarking schemes can enhance the cyber attack detection capability of networked control systems (NCSs). This paper presents a linear event-triggered solution to conventional dynamic watermarking (CDW) schemes. Firstly, the limitations of CDW schemes for event-triggered state estimation based NCSs are investigated. Secondly, a new event-triggered dynamic watermarking (ETDW) scheme is designed by treating watermarking as symmetric key encryption, based on the limit convergence theorem in probability. Its security property against the generalized replay attacks (GRAs) is also discussed in the form of bounded asymptotic attack power. Thirdly, finite sample ETDW tests are designed with matrix concentration inequalities. Finally, experimental results of a networked inverted pendulum system demonstrate the validity of our proposed scheme.