Part I Motivation and Framework
1 Introduction
1.1 Cyber-Physical Systems and Smart Cities
1.2 New Challenges in CPS
1.3 Overview and Related Works
1.4 Outline of the book
2 Cross-Layer Framework for CPSs
2.1 Introduction to Cross-Layer Design
2.2 Cross-Layer Design: Connecting Cryptography and Control Theory
2.3 Cross-Layer Design: Connecting Game Theory with Control Theory
2.4 Cross-Layer Design under Incomplete Information
2.5 Conclusions Part II Secure Outsourcing Computations of CPS
3 New Architecture: Cloud-Enabled CPS
3.1 Promising Applications of CE-CPSs
3.1.1 Cloud-Enabled Robotics
3.1.2 Cloud-Enabled Smart Grids
3.1.3 Cloud-Enabled Transport Systems
3.1.4 Cloud-Enabled Manufacturing
3.2 New Security Requirements of CE-CPSs
3.3 Conclusion
4 Secure and Resilient Design of Could-Enabled CPS
4.1 New Challenges and Proposed Solutions of CE-CPS
4.2 Problem Statements
4.3 System Dynamics and MPC Algorithm
4.4 The Standard form of Quadratic Problem
4.4.1 Cloud Attack Models 4.4.2 The Framework of the proposed mechanism
4.5 Confidentiality and Integrity
4.5.1 Encryption Methods
4.5.2 Verification Methods
4.6 Availability Issues
4.6.1 Switching Mode Mechanism
4.6.2 Buffer Mode and Switching Condition
4.6.3 The Local Controller for the Safe Mode
4 4.7 Analysis and Experiments
4.8 Conclusions and Notes
5 Secure Data Assimilation of Cloud Sensor Networks
5.1 Introduction to CE-LSNs
5.2 Problem Formulation
5.2.1 System Model and the Outsourcing Kalman Filter
5.2.2 Challenges and Design Objectives
5.3 The Secure Outsourcing Data Assimilation
5.3.1 The Additive Homomorphic Encryption
5.3.2 The Homomorphic Observer
5.3.3 Customized Encryption for Outsourcing Computation 5.4 Analysis of the Efficiency and Security
5.4.1 Efficiency Analysis
5.4.2 Security Analysis
5.5 Analysis of Quantization Errors
5.6 Experimental Results
5.6.1 The Output of the Encrypted Information
5.6.2 The Impact of the Quantization Errors
5.7 Conclusions and Notes
Part III Game-Theoretic Approach for CPS
6 Review of Game Theory
6.1 Introduction to Game Theory
6.2 Two-Person Zero-Sum Game Model
6.2.1 Formulation of the Zero-sum Game
6.3 Stackelberg Game Model
6.3.1 Formulation of the Stackelberg Game
6.3.2 Security Design based on Stackelberg Game
6.4 FlipIt Game Model
6.4.1 Formulation of FlipIt Game
6.4.2 Analysis of the FlipIt Game 6.5 Signaling Game with Evidence
6.6 Conclusion and Notes70
7 A Game-Theoretic Approach to Secure Control of 3D Printers
7.1 New Challenges in Networked 3D Printers
7.2 Problem Formulation
7.2.1 The Dynamic Model of 3D Printing Systems
7.2.2 Physical Zero-Sum Game Framework
7.2.3 A Cyber-Physical Attack Model for 3D-printing Systems
7.2.4 The Cyber FlipIt Game Model
7.2.5 A Cyber-physical Stackelberg Game Model
7.3 Analysis of the Cyber-Physical Games 7.3.1 Analysis of the Physical Zero-Sum Game Equilibrium
7.3.2 Analysis of the Cyber FlipIt Game Equilibrium
7.3.3 Analysis of the Cyber-Physical Stackelberg Game Equilibrium
7.4 Numerical Results
7.5 Conclusion and Notes
8 A Game Framework to Secure Control of CBTC Systems
8.1 Introduction to CBTC systems 8.2 Problem Formulation
8.2.1 The Physical Model of a Train System
8.2.2 Communication Model and Attack Model
8.3 Estimation Approach and Security Criterion
8.3.1 Physical Estimation Problem
About the Author: Quanyan Zhu received B. Eng. in Honors Electrical Engineering from McGill University in 2006, M. A. Sc. from the University of Toronto in 2008, and Ph.D. from the University of Illinois at Urbana-Champaign (UIUC) in 2013. After stints at Princeton University, he is currently an associate professor at the Department of Electrical and Computer Engineering, New York University (NYU). He is an affiliated faculty member of the Center for Urban Science and Progress (CUSP) at NYU. He is a recipient of many awards, including NSF CAREER Award, NYU Goddard Junior Faculty Fellowship, NSERC Postdoctoral Fellowship (PDF), NSERC Canada Graduate Scholarship (CGS), and Mavis Future Faculty Fellowships. He spearheaded and chaired INFOCOM Workshop on Communications and Control on Smart Energy Systems (CCSES), Midwest Workshop on Control and Game Theory (WCGT), and ICRA workshop on Security and Privacy of Robotics. His current research interests include game theory, machine learning, cyber deception, network optimization and control, smart cities, Internet of Things, and cyber-physical systems. He has served as the general chair or the TPC chair of the 7th and the 11th Conference on Decision and Game Theory for Security (GameSec) in 2016 and 2020, the 9th International Conference on NETwork Games, COntrol and OPtimisation (NETGCOOP) in 2018, the 5th International Conference on Artificial Intelligence and Security (ICAIS 2019) in 2019, and 2020 IEEE Workshop on Information Forensics and Security (WIFS). He has also spearheaded in 2020 the IEEE Control System Society (CSS) Technical Committee on Security, Privacy, and Resilience. He is a co-author of two recent books published by Springer: Cyber-Security in Critical Infrastructures: A Game-Theoretic Approach (with S. Rass, S. Schauer, and S. König) and A Game- and Decision-Theoretic Approach to Resilient Interdependent Network Analysis and Design (with J. Chen).
Zhiheng Xu received his Ph.D. degree in Electrical Engineering from New York University in 2018. After his Ph.D. graduation, he went to Nanyang Technological University, Singapore, working as Research Fellow for two years. Currently, he works as a senior robotics software engineer at the Department of Intelligent Machines, Dyson Company. His research interests include cyber-physical security, artificial intelligence, reinforcement learning, intelligent decision making, and game theory
