Cyber-Physical Systems:

Challenges and Security

Jagannathan Sarangapani
Rutledge-Emerson Distinguished Professor
Department of Electrical and Computer Engg
Professor of Computer Science
Professor of Engineering Management and Systems Engg
Missouri University of Science and Technology (Former
University of Missouri-Rolla)
301 W 16th Street, Rolla
Rolla, MO 65401.
sarangap@mst.edu
ece.mst.edu/sarang,html, ims.mst.edu, autoid.mst.edu
 Outline
Cyber Physical Systems: Introduction
Challenges and Opportunities
Smart City Application
Control
IoT Sensors
Bigdata Analytics
Final Word
Imagine a World

Source: Perspectives on CPS for Smart Cities by David Corman, NSF

CISE Directorate
What is a Cyber Physical System (CPS)?

A cyberphysical system (CPS) integrates

computing communication and storage
capabilities with monitoring and / or control of
entities in the physical world, and must do so
dependably, safely, securely, efficiently and in
realtime.

CPS should transform how we interact with the

Physical World
What is a Cyber Physical System (CPS)?
A cyber-physical system (CPS) is a system with a tight combination
of, and coordination between, the systems computational and
physical elements.

Unlike embedded systems, in CPS the emphasis tends to be more on

the intense link between the computational and physical elements
rather than computational elements alone.

The linkage between computational and physical elements will

dramatically increase the adaptability, autonomy, efficiency,
functionality, reliability, safety, and usability of cyber-physical systems.

Haifeng Niu and S. Jagannathan, Optimal defense and control of dynamic systems
modeled as cyber-physical systems, Journal of Defense Modeling and Simulation,
vol. 12, no. 4, pp. 423-438, 2015.
 Introduction: What is a Cyber-Physical System
Embedded computer systems networked together with modern day physical
systems are referred to as cyber-physical systems.

Applications of cyber-physical systems include smart grid, water and

transportation networks, and others.

December 10-11, 2014 // 6

28th IndustrySamsung,
Advisory Austin,
Board Meeting
TX Picture source: www.google.com/search?q=cyber&new
 Characteristics of a CPS?
Cyber integrated in every physical component
Networked at multiple scales where the systems
operate at multiple temporal and spatial
scales
Dynamically reorganizing/reconfiguring
Operation must be dependable,
secure, and safe
Cyber and physical components are tightly
integrated for : learning and adaptation,
enhanced performance, selforganization, self
healing
From Real-time and Hybrid Systems

Source: P.R. Kumar

From Communication, Sensing, and
Acting

Source: P.R. Kumar

Third Generation of Control

Network Protocol effects

Packet losses
Network delays
Quantization
Event trigger
Event plus time based
CPS Foundations

Source: P.R. Kumar

Source: Perspectives on CPS for Smart Cities by David Corman, NSF
CISE Directorate
 Cyber-Physical Infrastructure
Make cities
smarter by engineering
processes such as traffic
control, efficient parking
services, and new urban
activities such as PEVs.
Includes mobile sensor network
for urban environment and
decision support

Source: NSF: David Coreman

 Smart Grid
Self-healing grid A smart grid delivers
electricity from suppliers to
consumers using two-way
digital technology to control
appliances at consumers'
homes to save energy, reduce
cost and increase reliability
and transparency.
A smart grid can automatically
avoid or mitigate power
outages, power quality
Able to heal itself Source: Web problems, and service
Motivate consumers to participate disruptions by using real-time
Resist attacks information from embedded
sensors and automated
Accommodate all generation options
controls to anticipate, detect,
Run more efficiently and respond to system
Enable intermittent power generation problems,
 Smart Grid
Source: Web

It is envisioned that the smart grid will likely have a control system that
analyzes its performance using distributed reinforcement learning controllers
that have learned successful strategies to govern the behavior of the grid in the
face of an ever changing environment such as equipment failures.
 Opportunities
Self Organizing factories--In smart factories,
communities of machines will organize themselves, supply chains will
automatically coordinate with one another, and unfinished products will
send the data needed for their processing to the machines that will turn
them into merchandise.

Embedded Intelligence---Nevertheless, experts agree

that future production facilities will be much smarter than todays factories.
This intelligence will be made possible by the use of miniaturized
processors, storage units, sensors, and transmitters that will be embedded
in nearly all conceivable types of machines, unfinished products, and
materials, as well as smart tools and new software for structuring data
flows. All of these innovations will enable products and machines to
communicate with one another and exchange commands. In other words,
the factories of the future will optimize and control their manufacturing
processes largely by themselves.
 Network Enabled Manufacturing
Sensors
Quality Monitoring & Adaptive Inventory Management
MOTES Control Internet
Hand-held 2-Freezer Sockets Decision XML
Arena Model Maker C++ Database -
Tools (ISF) (ES&NL) MySQL

Reader

F1 F2 PDA - Java
Wireless
Access Port
Buffers
(Shop Floor) Antenna
Expeditor
FACTORY
FLOOR
Fasteners
On-
On-line Quality Monitoring Real-time
Locating
Stop/Go Systems
Lights Fwd Fuse Installations L/R LEX

Warehouse
Buffer
Fwd Workstation 3 Workstation 2 Workstation 1
Clean Up Skinning Jig

Buffer
LEX
Workstation 3 Workstation 2 Workstation 1
Workstation 7 Clean Up Skinning Jig
Wire Integrity Test

Final Assembly

T L/R LEX , LEX attach

Fwd Structure

Operations
Fwd Fuse Lwr/Mid
Buffer Workstation 6 Buffer
Aircraft Clean Up Fwd Structure

Buffer
Lwr/Mid

Workstation 5 Workstation 5
Water Check
Continue Mech Build Up Clean Up

T fwd fuse installations , final assembly

T fwd fuse lwr/mid+fwd nose barrel , fwd struct

Workstation 5
Lwr/Mid Mechanical

Workstation 4 Workstation 4 Workstation 4 Fwd Nose Barrel

Operations Initial Mech Build Up LEX Attach

T fwd strut , fwd fuse installations

Workstation 4 Buffer

Demo
Lwr/Mid Clean Up Nose Barrel

Workstation 3 Workstation 3 Workstation 3

Installations Continue Routing Cockpit

Workstation 3 Workstation 3
Lower Clean Up

Model @
Workstation 2 Workstation 2
Clean Up Workstation 2 Skinning
Initial Wire Bundle routing

Workstation 2
Workstation 2
Mid
Skinning

UMR
Workstation 1 Workstation 1
Splice Workstation 1 Framing
Hyd Pressure Test, Pre-Route

Workstation 1 Workstation 1
Keels Framing
Stage
Stage Stage Fwd Structure
Fwd Fwd

Motion
Sensors 17
Smart Systems: Sensing, Computation and
Control
 Smart Environments

03/11/17 19
Dependability Prediction for Critical Infrastructure
Perceived Needs
Identification of
vulnerabilities in aging
critical infrastructure
systems
Prevention of cascading
failure
Mitigation of
consequences of failure
Applications
Intelligent transportation
systems
Advanced electric power grid
Unmanned vehicle control
 IOT and Other Technologies

Internet of Things (IoT) research is devoted to the idea

that a wide array of devices, including appliances, vehicles,
buildings, and cameras, can be interconnected to
collect and share their abundant sensory information to use
for intelligent purposes.
Challenges and Open Problems
Smart Cities
What foundational research is needed to achieve effective
Integration of networked computing systems, physical devices,
data sources, and infrastructure to have a major impact on quality
of life within the city?

Sensor development
Cheap and noninvasive
Cyber-Physical Systems
Control and Security
Big Data Issues
 Opportunities
IoT
Networked Systems with application to Smart Grid, Energy Efficient Buildings,
Diagnostics/Prognostics,
Smart Healthcare
Emergency Response
Security
Smart Roads by UC Berkeley
 Identified Need of CPS
A new calculus or system theory to merge
time to event-based systems due to
interconnections.
Dynamics are different time scales
Delays and packet losses
Unlike hybrid systems, the time is not global
Information architectures that are flexible,
reconfigurable and modular
Novel software/hardware co-design tools
 Security & Privacy
Access Control Protocols: Providing confidentiality,
authenticity, and privacy services in the presence of
physically-actuated entities is extremely difficult for real-
time environments such as CPS.

New approaches are needed for secure and privacy-aware

routing, secure aggregation, privacy preservation, and
minimizing leakage of critical information, among others.
 Security and Privacy in CPS
Need to understand the physical, network,
and cyber layers and their interactions from
security perspective
Security schemes to accommodate real-time
constraints
Energy efficiency, computational load
Legacy Systems in CPS are hard to deal with
in terms of security
Attack prediction and avoidance is critical
Attack resilient technologies are needed
No theory exists on privacy for such systems
 Networked Control System (NCS)?
In networked control systems
(NCS), sensors, actuators, and
Controller Physical System
controllers are interconnected by a
wireless communication network.
Wireless network architectures Dedicated Control
can improve the efficiency,
flexibility, and reliability of these
integrated applications.
NCS is a simplified form of CPS.

Distributed Control
 Simplified Representation
NCS has many compelling
applications.

The deployment of wireless

networks together with
smart sensors enables new
control applications and
allows fully mobile
operation, flexible
installation, and reduced
maintenance costs.

Hao Xu, S. Jagannathan, F. L. Lewis, Stochastic optimal control of unknown networked control
systems in the presence of random delays and packet losses, Automatica, vol. 48, no. 6, pp. 1017-
1030, June 2012.
 Big Data Analytics
Online
Complexity
Processing

Essential
Data
Big Data
Value of
03/11/17 Reliable Decision
30
 Challenges
Number of sensors per machine/system increases but is it
useful
Manual processing and evaluation of data is not feasible
even to check if the processing outcome is correct
Automatic processing and evaluation of data quality and
meaning is required
Sensor selection and placement
Big data < All data
Big data <> Essential data for prognostics
Insufficient information
Initially little data available for development
Rare-event prediction and estimation challenges
 Big Data Analytics
Smart environments, health care, cyber-physical system
and smart grid are expected to generate large quantities
of data
Understanding big data challenges along with efficient
and secure storage and management is very important.
Information Processing and Decision making will be a
nightmare without proper tools
For example, to reduce energy consumption in buildings
instrumented with sensors and other smart devices,
sophisticated data analytic models and visualization tools
are needed to aggregate or fuse millions of data samples
per day
03/11/17 32
 Managing the Data
Existing business models are not
effective with the large quantities of
data
Embedded decision making algorithms
have to developed to take advantage
visibility and to ensure reliability
 Cyber System Index and Resilience Control
Cyber Index: a quantized value indicating the condition of the cyber system.

Cyber States
Cyber Index
Physical States
f()
Compromised Healthy
Attack identified
System performance Defense launched
Attack starts to degrade Performance starts to recover
Begins
Attack
Cyber Detected
Index

Resilience Performance

Control recovers completely

Time
t0 ta td ti tr
December 10-11, 2014 // 34
28th IndustrySamsung,
Advisory Austin,
Board Meeting
TX
 Security
In networked dynamic systems (NDS), the digital controllers receive
measured data from sensors and transmit control commands to the actuators
through a communication network.

Actuator Plant Sensors

CAN bus in automotive

vehicles Internet of Things

Communication Networks
Traffic Prediction
Smart gid

Controller

Picture source: www.google.com/search?

q=cyber&new
Copyright belongs to the owner.
 Hacking

Charlie Miller (left) and Chris

Valasek hacking into a Jeep
Cherokee in St. Louis.
Source: http://www.wired.com/

Immediately my accelerator stopped working. As I frantically pressed the pedal

and watched the RPMs climb, the Jeep lost half its speed, then slowed to a crawl.
This wasnt their first time. In 2013, they sat in the backseat of a Ford Escape and
a Toyota Prius with their laptops, cackling as they disabled the brakes, honked the
horn, jerked the seat belt, and commandeered the steering wheel.
 Security in Control Systems

Attacks Faults

Controller Actuator System

Input Output
+
-

Stabilize
Cyber
States Attack Attack Attack
Detection
Controller Identification
Diagnostic Tool Mitigation
System
Configuration Fault Detection Model

December 10-11, 2014 // Sensors 37

28th IndustrySamsung,
Advisory Austin,
Board Meeting
TX
 Simulation Results Resilience in Physical Systems
Simulation results for the p M1 M1 p M 2 p M 2

resilience control of the physical 200

Error Magnitude
e1 e2 e3 e4
under different network

Error
100
conditions.

Regulation
The network attack is launched 0

at T=10s and increases its -100

attacking strength at T=20s.
-200
Top: regulation errors when the 0 5 10 15 20 25 30

Est. Error Magnitude

30 Time (s)
same controller gain is applied Est. Err. Threshold
20

E st. E rror
through the simulation;
Middle: the estimation error; 10

Bottom: regulation errors when 0

the controller gain is re- -10

0 5 10 15 20 25 30
configured at T=10s. 15 Time (s)
Error Magnitude

e1 e2 e3 e4
Error

10
Regulation

e1: Fluid Level (cm) 0

e2: Inside Temperature (K)
e3: Product outlet flow rate (g/s) -5
e4: Coolant outlet temperature (K)
-10
0 5 10 15 20 25 30
Time (s)
Disturbance
or Parameter
State Awareness
variation

Healthy Anomalies Faulty

State State
Resilient
Control
Resilient
Control
Attack
Cyber

State
Awareness

Cyber
Threats
 Final Word
Cyber-physical systems are smart systems of
tomorrow which will enable ubiquitous technologies
Future complex systems such as health care, smart
grid, water distribution, energy efficient buildings will
be viewed as Cyber Physical Systems
Cyber-Physical System is a Multidisciplinary Area with
plenty of opportunities and Smart City is a compelling
application
Advances of Cyber-physical systems and its
application to Smart Cities will
Transform our lives
Drive economic prosperity
Improve national security
Enhance societal well-being