Secure State Estimation for Cyber-Physical Systems Under Sensor Attacks: A Satisfiability Modulo Theory Approach

Secure state estimation is the problem of estimating the state of a dynamical system from a set of noisy and adversarially corrupted measurements. Intrinsically a combinatorial problem, secure state estimation has been traditionally addressed either by brute force search, suffering from scalability...

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Published in	IEEE transactions on automatic control Vol. 62; no. 10; pp. 4917 - 4932
Main Authors	Shoukry, Yasser, Nuzzo, Pierluigi, Puggelli, Alberto, Sangiovanni-Vincentelli, Alberto L., Seshia, Sanjit A., Tabuada, Paulo
Format	Journal Article
Language	English
Published	IEEE 01.10.2017
Subjects	Heuristic algorithms Noise measurement Process control satisfiability modulo theories Scalability Secure cyber-physical systems secure state estimation Semiconductor device measurement sensor attacks State estimation Upper bound
Online Access	Get full text
ISSN	0018-9286 1558-2523
DOI	10.1109/TAC.2017.2676679

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Abstract	Secure state estimation is the problem of estimating the state of a dynamical system from a set of noisy and adversarially corrupted measurements. Intrinsically a combinatorial problem, secure state estimation has been traditionally addressed either by brute force search, suffering from scalability issues, or via convex relaxations, using algorithms that can terminate in polynomial time but are not necessarily sound. In this paper, we present a novel algorithm that uses a satisfiability modulo theory approach to harness the complexity of secure state estimation. We leverage results from formal methods over real numbers to provide guarantees on the soundness and completeness of our algorithm. Moreover, we discuss its scalability properties, by providing upper bounds on the runtime performance. Numerical simulations support our arguments by showing an order of magnitude decrease in execution time with respect to alternative techniques. Finally, the effectiveness of the proposed algorithm is demonstrated by applying it to the problem of controlling an unmanned ground vehicle.
AbstractList	Secure state estimation is the problem of estimating the state of a dynamical system from a set of noisy and adversarially corrupted measurements. Intrinsically a combinatorial problem, secure state estimation has been traditionally addressed either by brute force search, suffering from scalability issues, or via convex relaxations, using algorithms that can terminate in polynomial time but are not necessarily sound. In this paper, we present a novel algorithm that uses a satisfiability modulo theory approach to harness the complexity of secure state estimation. We leverage results from formal methods over real numbers to provide guarantees on the soundness and completeness of our algorithm. Moreover, we discuss its scalability properties, by providing upper bounds on the runtime performance. Numerical simulations support our arguments by showing an order of magnitude decrease in execution time with respect to alternative techniques. Finally, the effectiveness of the proposed algorithm is demonstrated by applying it to the problem of controlling an unmanned ground vehicle.
Author	Shoukry, Yasser Sangiovanni-Vincentelli, Alberto L. Tabuada, Paulo Nuzzo, Pierluigi Puggelli, Alberto Seshia, Sanjit A.
Author_xml	– sequence: 1 givenname: Yasser surname: Shoukry fullname: Shoukry, Yasser email: yshoukry@ucla.edu organization: Electr. Eng. Dept., Univ. of California, Los Angeles, Los Angeles, CA, USA – sequence: 2 givenname: Pierluigi surname: Nuzzo fullname: Nuzzo, Pierluigi email: nuzzo@usc.edu organization: Dept. of Electr. Eng., Univ. of Southern California, Los Angeles, CA, USA – sequence: 3 givenname: Alberto surname: Puggelli fullname: Puggelli, Alberto email: alberto@lionsemi.com organization: Lion Semicond. Inc., San Francisco, CA, USA – sequence: 4 givenname: Alberto L. surname: Sangiovanni-Vincentelli fullname: Sangiovanni-Vincentelli, Alberto L. email: alberto@eecs.berkeley.edu organization: Dept. of Electr. Eng. & Comput. Sci., Univ. of California Berkeley, Berkeley, CA, USA – sequence: 5 givenname: Sanjit A. surname: Seshia fullname: Seshia, Sanjit A. email: sseshia@eecs.berkeley.edu organization: Dept. of Electr. Eng. & Comput. Sci., Univ. of California Berkeley, Berkeley, CA, USA – sequence: 6 givenname: Paulo surname: Tabuada fullname: Tabuada, Paulo email: tabuada@ucla.edu organization: Electr. Eng. Dept., Univ. of California, Los Angeles, Los Angeles, CA, USA
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SubjectTerms	Heuristic algorithms Noise measurement Process control satisfiability modulo theories Scalability Secure cyber-physical systems secure state estimation Semiconductor device measurement sensor attacks State estimation Upper bound
Title	Secure State Estimation for Cyber-Physical Systems Under Sensor Attacks: A Satisfiability Modulo Theory Approach
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