Abstract
Power systems are traditionallymonitored and controlled by an IT infrastructure, referred to as Supervisory Control and Data Acquisition (SCADA) system. The cyber-physical interaction of power systems (physical) and SCADA systems (cyber) rises security issues, since the links between those systems are vulnerable to cyber-attacks that can potentially lead to catastrophic economical and societal effects. In this chapter we focus on a specific cyber-physical link, the Automatic Generation Control (AGC), which is an automatic frequency control loop closed over the SCADA system. We provide an impact analysis in case of a cyber-attack on the AGC signal. We first carry out a feasibility analysis based on reachability and optimal control theory, that provides an information regarding the existence of an attack pattern that can disturb the power system. We then deal with the problem of synthesizing an attack signal and treat it as a nonlinear control synthesis problem. Third, performance of our methodologies are illustrated by means of dynamic simulations on IEEE-118 bus network.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Andersson, G., Donalek, P., Farmer, R., Hatziargyriou, N., Kamwa, I., Kundur, P., Martins, N., Paserba, J., Pourbeik, P., Sanchez-Gasca, J., Schulz, R., Stankovic, A., Taylor, C., Vittal, V.: Causes of the 2003 Major Grid Blackouts in North America and Europe, and Recommended Means to Improve System Dynamic Performance. IEEE Transactions on Power Systems 20(4), 1922–1928 (2005)
Zima, M., Bockarjova, M.: Operation, Monitoring and Control Technology of Power Systems. Lecture Notes, ETH Zurich (2007)
Khaitan, S., McCalley, J.: Cyber physical system approach for design of power grids: A survey. In: IEEE PES GM 2013, July 21-15, pp. 1–5 (2013)
Khaitan, S., McCalley, J.: Design techniques and applications of cyber physical systems: A survey. IEEE Systems Journal PP, 1–16 (2014)
Kirschen, D., Bouffard, F.: Keep the Lights On and the Information Flowing. IEEE Power and Energy Magazine 7(1), 50–60 (2009)
Teixeira, A., Amin, S., Sandberg, H., Johansson, K., Sastry, S.: Cyber security analysis of state estimators in electric power systems. In: 2010 49th IEEE Conference on Decision and Control (CDC), pp. 5991–5998 (December 2010)
Vukovic, O., Sou, K.C., Dan, G., Sandberg, H.: Network-aware mitigation of data integrity attacks on power system state estimation. IEEE Journal on Selected Areas in Communications 30(6), 1108–1118 (2012)
Hug, G., Giampapa, J.: Vulnerability assessment of ac state estimation with respect to data injection cyber-attacks. IEEE Transactions on Smart Grid (2012)
Negrete-Pincetic, M., Yoshida, F., Gross, G.: Towards Quantifying the Impacts of Cyber Attacks in the Competitive Electricity Market Environment. In: IEEE Power Tech Conference (2009)
Forbes, Congress Alarmed at Cyber-Vulnerability of Power Grid, http://www.forbes.com/2008/05/22/cyberwar-breach-government-tech-security_cx_ag_0521cyber.html
CNN, Sources: Staged cyber attack reveals vulnerability in power grid, http://www.cnn.com/2007//US/09/26/power.at.risk/index.html
Comptuterworld, DHS to review report on vulnerability in West Coast power grid, http://www.computerworld.com/s/article/9138017
Wang, J.-W., Ronga, L.-L.: Cascade-based attack vulnerability on the US power grid. Elsevier, Safety science 47(10), 1332–1336 (2009)
VIKING Project, http://www.vikingproject.eu
Vulnerability assessment of scada systems. Deliverable D3.1, VIKING project (2011)
Impact analysis of adverse events. Deliverable D3.2, VIKING project (2011)
Consequence and cost analysis of scada system vulnerabilities. Deliverable D3.3, VIKING project (2011)
Mitigation and protection strategies. Deliverable D4.3, VIKING project (2011)
Mohajerin Esfahani, P., Vrakopoulou, M., Margellos, K., Lygeros, J., Andersson, G.: Cyber attack in a two-area power system: Impact identification using reachability. In: American Control Conference, pp. 962–967 (2010)
Mohajerin Esfahani, P., Vrakopoulou, M., Margellos, K., Lygeros, J., Andersson, G.: A robust policy for automatic generation control cyber attack in two area power network. In: 49th IEEE Conference Decision and Control, pp. 5973–5978 (2010)
Lygeros, J.: On reachability and minimum cost optimal control. Automatica 40(6), 917–927 (1999)
Mitchell, I., Bayen, A.M., Tomlin, C.: A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games. IEEE transactions on Automatic Control 50
Lecchini-Visintini, A., Lygeros, J., Maciejowski, J.: Stochastic optimization on continuous domains with finite-time guarantees by markov chain monte carlo methods. IEEE Transactions on Automatic Control 55(12), 2858–2863 (2010)
Robert, C., Casella, G.: Monto Carlo Statistical Methods. Springer
Sastry, S.: Nonlinear systems: analysis, stability and control. Springer, New York (1999)
Khalil, H.: Nonlinear Systems, 3rd edn. Prentice-Hall, NJ (2002)
Kundur, P.: Power System Stability and Control. McGraw-Hill (1993)
Andersson, G.: Dynamics and Control of Electric Power Systems. ETH ZĂĽrich (2009)
Franklin, G.F., Powell, J.D., Emami-Naeini, A.: Feedback Control of Dynamic Systems. Prentice Hall (2002)
Kundur, P.: Power System Stability and Control. McGraw-Hill Inc. (1994)
Mitchell, I.: Application of level set methods to control and reachability problems in continuous and hybrid systems. Stanford University, PhD thesis (2002)
Panagou, A.: Cyber-security issues in the Automatic Generation Control. Semester thesis, Power System Laboratory, ETH Zurich, Switzerland (2013)
Demiray, T.: Simulation of Power System Dynamics using Dynamic Phasor Models. PhD thesis, Diss. ETH No.17607, ETH Zurich, Switzerland (2008)
Power Systems Test Case Archive. College of Engineering, University of Washington, http://www.ee.washington.edu/research/pstca/
Anderson, P.M., Fouad, A.A.: Power System Control and Stability. IEEE Computer Society Press (2002)
Mohajerin Esfahani, P., Vrakopoulou, M., Andersson, G., Lygeros, J.: A tractable nonlinear fault detection and isolation technique with application to the cyber-physical security of power systems. In: 2012 IEEE 51st Annual Conference on Decision and Control (CDC), pp. 3433–3438 (December 2012)
Mohajerin Esfahani, P., Lygeros, J.: A tractable fault detection and isolation approach for nonlinear systems with probabilistic performance. IEEE Transaction of Automatic Control (TAC) (conditionally accepted, November 2014), http://arxiv.org/abs/1408.1767
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Vrakopoulou, M., Esfahani, P.M., Margellos, K., Lygeros, J., Andersson, G. (2015). Cyber-Attacks in the Automatic Generation Control. In: Khaitan, S., McCalley, J., Liu, C. (eds) Cyber Physical Systems Approach to Smart Electric Power Grid. Power Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-45928-7_11
Download citation
DOI: https://doi.org/10.1007/978-3-662-45928-7_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-45927-0
Online ISBN: 978-3-662-45928-7
eBook Packages: EnergyEnergy (R0)