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In this paper, a failure model of Cyber-Physical systems and an attack model are proposed. We divide the attacks into three kinds: simultaneous attack, sequential attack and composite attack. Through numerical simulations, we find that: (1) the sequential attack may bring more damage in single physical systems; (2) the coupling process of cyber system and physical systems makes it possible that sequential attack causes more damage than simultaneous attacks when the attackers only attack the cyber system; (3) with some target sets, composite attack leads to more failures than both simultaneous attack and sequential attack. The above results suggest that defenders should take all the three kinds of attacks into account when they select the critical nodes.

Robustness of Cyber-Physical Systems against Simultaneous, Sequential and Composite Attack