Authors:
Milad Farsi
1
;
Shuhao Bian
1
;
Nasser Azad
1
;
Xiaobing Shi
2
and
Andrew Walenstein
2
Affiliations:
1
Department of Systems Design Engineering, University of Waterloo, Waterloo, Canada
;
2
BlackBerry Limited, Waterloo, Canada
Keyword(s):
Resilient Control, Robust Control, Model Predictive Control, Denial of Service Attack.
Abstract:
We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Service (DoS) attack, also with measurement noise, as an uncertain linear system with parametric and additive uncertainty. To detect anomalies, we employ a Kalman filter-based approach. Then, through our observations of the intensity of the launched attack, we determine a range of possible values for the system matrices, as well as establish bounds of the additive uncertainty for the equivalent uncertain system. Leveraging a recent constraint tightening robust MPC method, we present an optimization-based resilient algorithm. Accordingly, we compute the uncertainty bounds and corresponding constraints offline for various attack magnitudes. Then, this data can be used efficiently in the MPC computations online. We demonstrate the effectiveness of the developed framework on th
e Adaptive Cruise Control (ACC) problem.
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