Abstract
This article studies an attack mitigation strategy for the corrective control system of input/state asynchronous sequential machines (ASMs). The corrective controller suffers from an attacker invoking false data injection attacks, as the result of which not only the controller but also the controlled machine undergoes unauthorized state transitions. To overcome such attacks, we propose self-repairing transitions and additional controller components to make the closed-loop system exhibit desired input/state behaviors as well as resilience against the adverse effect of the attack on the controller. The stable reachability of the controlled ASM required to design a proper corrective controller is derived. Hardware experiments on field-programmable gate array (FPGA) on a space-borne digital system are provided to demonstrate the applicability of the proposed methodology.
Similar content being viewed by others
References
J. Sparsø and S. Furber, Principles of Asynchronous Circuit Design–A Systems Perspective, Kluwer Academic Publishers, Boston, MA, 2002.
J. Hammer, “Automatic defensive control of asynchronous sequential machines,” International Journal of Control, vol. 89, no. 1, pp. 193–209, 2016.
T. E. Murphy, X. Geng, and J. Hammer, “On the control of asynchronous machines with races,” IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 1073–1081, 2003.
J. Peng and J. Hammer, “Input/output control of asynchronous sequential machines with races,” International Journal of Control, vol. 83, no. 1, pp. 125–144, 2010.
X. Xu and Y. Hong, “Matrix approach and model matching of asynchronous sequential machines,” IEEE Transactions on Automatic Control, vol. 58, no. 11, pp. 2974–2979, 2013.
J.-M. Yang, D.-E. Lee, and S. W. Kwak, “Delayed model matching of asynchronous sequential machines with discrepancy in the initial state,” International Journal of Control, Automation, and Systems, vol. 19, no. 4, pp. 1578–1587, 2021.
S. Saha, X. Zhai, S. Ehsan, S. Majeed, and K. McDonald-Maier, “RASA: Reliability-aware scheduling approach for FPGA-based resilient embedded systems in extreme environments,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 6, pp. 3885–3899, 2022.
C. S. Cho, W. H. Chung, and S. Y. Kuo, “Cyberphysical security and dependability analysis of digital control systems in nuclear power plants,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 46, no. 3, pp. 356–369, 2016.
G. Chen, C. Fan, J. Sun, and J. Xia, “Mean square exponential stability analysis for Itô stochastic systems with aperiodic sampling and multiple time-delays,” IEEE Transactions on Automatic Control, vol. 67, no. 5, pp. 2473–2480, 2022.
G. Chen, J. Xia, J. H. Park, H. Shen, and G. Zhuang, “Sampled-data synchronization of stochastic Markovian jump neural networks with time-varying delay,” IEEE Transactions on Neural Networks and Learning Systems, vol. 33, no. 8, pp. 3829–3841, 2022.
X. Geng and J. Hammer, “Input/output control of asynchronous sequential machines,” IEEE Transactions on Automatic Control, vol. 50, no. 12, pp. 1956–1970, 2005.
G. Na and Y. Eun, “A probing signal-based replay attack detection method avoiding control performance degradation,” International Journal of Control, Automation, and Systems, vol. 20, no. 11, pp. 3637–3649, 2022.
B.-C. Zheng, L. Guo, X. Liu, Z. Gu, and Y. Zhao, “Robust security control under denial-of-service jamming attacks: An event-triggered sliding-mode control approach,” International Journal of Control, Automation, and Systems, vol. 20, no. 12, pp. 3892–3902, 2022.
G. Wu, J. Sun, and J. Chen, “Optimal data injection attacks in cyber-physical systems,” IEEE Transactions on Cybernetics, vol. 48, no. 12, pp. 3302–3312, 2018.
L. Yu, X. M. Sun, and T. Sui, “False-data injection attack in electricity generation system subject to actuator saturation: Analysis and design,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 49, no. 8, pp. 1712–1719, 2019.
F. Li and Y. Tang, “False data injection attack for cyber-physical systems with resource constraint,” IEEE Transactions on Cybernetics, vol. 50, no. 2, pp. 729–738, 2020.
S. Q. Zhang, W. W. Che, and C. Deng, “Observer-based event-triggered secure synchronization control for multiagent systems under false data injection attacks,” International Journal of Robust and Nonlinear Control, vol. 32, no. 8, pp. 4843–4860, 2020.
R. Deng, G. Xiao, R. Lu, H. Liang, and A. V. Vasilakos, “False data injection on state estimation in power systems—Attacks, impacts, and defense: A survey,” IEEE Transactions on Industrial Informatics, vol. 13, no. 2, pp. 411–423, 2017.
X. Huang and J. Dong, “Learning-based switched reliable control of cyber-physical systems with intermittent communication faults,” IEEE/CAA Journal of Automatica Sinica, vol. 7, no. 3, pp. 711–724, 2020.
F. Chen, R. Jiang, C. Wen, and R. Su, “Self-repairing control of a helicopter with input time delay via adaptive global sliding mode control and quantum logic,” Information Sciences, vol. 316, pp. 123–131, 2015.
Z. Liu, W. Chen, H. Wang, Y.-H. Liu, Y. Shen, and X. Fu, “A self-repairing algorithm with optimal repair path for maintaining motion synchronization of mobile robot network,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 50, no. 3, pp. 815–828, 2020.
K. Hu, F. Chen, and Z. Cheng, “Fuzzy adaptive hybrid compensation for compound faults of hypersonic flight vehicle,” International Journal of Control, Automation, and Systems, vol. 19, no. 6, pp. 2269–2283, 2021.
S. Deepanjali and N. M. Sk, “Self healing controllers to mitigate SEU in the control path of FPGA based system: A complete intrinsic evolutionary approach,” Journal of Electronic Testing, vol. 38, no. 5, pp. 547–565, 2022.
K. Hu, W. Sun, and Z. Cheng, “Improved adaptive compensation of variant fighter with multiple faults via extended observer,” International Journal of Control, Automation, and Systems, vol. 21, no. 7, pp. 2277–2292, 2023.
R. Su, “Supervisor synthesis to thwart cyber attack with bounded sensor reading alterations,” Automatica, vol. 94, pp. 35–44, 2018.
R. Meira-Góes, R. H. Kwong, and S. Lafortune, “Synthesis of optimal multiobjective attack strategies for controlled systems modeled by probabilistic automata,” IEEE Transactions on Automatic Control, vol. 67, no. 6, pp. 2873–2888, 2021.
R. Su, “On decidability of existence of nonblocking supervisors resilient to smart sensor attacks,” Automatica, vol. 154, Article ID 111076, 2023.
Z. Ma and K. Cai, “On resilient supervisory control against indefinite actuator attacks in discrete-event systems,” IEEE Control Systems Letters, vol. 6, pp. 2942–2947, 2022.
L. K. Carvalho, Y. C. Wu, R. Kwong, and S. Lafortune, “Detection and mitigation of classes of attacks in supervisory control systems,” Automatica, vol. 97, pp. 121–133, 2018.
R. Meira-Góes, H. Marchand, and S. Lafortune, “Dealing with sensor and actuator deception attacks in supervisory control,” Automatica, vol. 147, Article ID 110736, 2023.
A. K. S. Pundir, “Novel modified memory built in self-repair (MMBISR) for SRAM using hybrid redundancy-analysis technique,” IET Circuits, Devices & Systems, vol. 13, no. 6, pp. 836–842, 2019.
I. Yang, S. H. Jung, and K.-H. Cho, “Self-repairing digital system based on state attractor convergence inspired by the recovery process of a living cell,” IEEE Transactions on Very Large Scale Integration (VLSI) Systems, vol. 25, no. 2, pp. 648–659, 2017.
Z. Kohavi and N. K. Jha, Switching and Finite Automata Theory, 3rd ed. Cambridge University Press, Cambridge, UK, 2010.
N. Venkatraman and J. Hammer, “On the control of asynchronous sequential machines with infinite cycles,” International Journal of Control, vol. 79, no. 7, pp. 764–785, 2006.
Z. Gao, J. Zhu, R. Han, Z. Xu, A. Ullah, and P. Reviriego, “Design and implementation of configuration memory SEU-tolerant viterbi decoders in SRAM-based FPGAs,” IEEE Transactions on Nanotechnology, vol. 18, pp. 691–699, 2019.
B. Gu, S. Kim, J. Lee, S. Oh, and J. Chae, “Development of flight model NEXTSat-1 on board computer,” Proceedings of the Korean Society for Aeronautical & Space Sciences (KSAS) Fall Conference, pp. 1074–1075, 2016.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
This research was supported in part by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (no. 2021R1I1A3040696), and in part by Korea Institute for Advancement of Technology (KIAT) grant funded by the Korea Government (MOTIE) (P0012451, The Competency Development Program for Industry Specialist).
Jung-Min Yang received his B.S., M.S., and Ph.D. degrees in electrical engineering from Korea Advanced Institute of Science and Technology (KAIST), Korea, in 1993, 1995, and 1999, respectively. Since 2013, he has been with the School of Electronics Engineering, Kyungpook National University, Daegu, Korea, where he is currently a professor. His research interests are in control of asynchronous sequential machines, control of complex networks, and wind energy conversion systems.
Seong Woo Kwak received his B.S., M.S., and Ph.D. degrees in electrical engineering from Korea Advanced Institute of Science and Technology (KAIST), Korea, in 1993, 1995, and 2000, respectively. From 2000 to 2002, he was a research professor at the Satellite Technology Research Center (SaTReC) in KAIST, where he was involved in the project of developing STSAT-1 satellite. From 2003 to 2019, he worked as a professor in the Department of Electronic Engineering, Keimyung University, Korea. Since 2020, he has been with the Department of Control and Instrumentation Engineering, Pukyong National University, Busan, Korea, where he is currently a professor. His research interests are in fault tolerant systems, control of asynchronous sequential machines, real-time systems, and spaceborne electronics.
Rights and permissions
About this article
Cite this article
Yang, JM., Kwak, S.W. Attack Mitigation for the Corrective Controller With FPGA Implementation on a Space-borne Digital System. Int. J. Control Autom. Syst. 21, 3932–3944 (2023). https://doi.org/10.1007/s12555-023-0200-6
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12555-023-0200-6