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Networked control systems consist of distributed sensors and actuators thatcommunicate via a wireless network. The use of an open wireless medium andunattended deployment leaves these systems vulnerable to intelligentadversaries whose goal is to disrupt the system performance. In this paper, westudy the wormhole attack on a networked control system, in which an adversaryestablishes a link between two distant regions of the network by using eitherhigh-gain antennas, as in the out-of-band wormhole, or colluding network nodesas in the in-band wormhole. Wormholes allow the adversary to violate the timingconstraints of real-time control systems by delaying or dropping packets, andcannot be detected using cryptographic mechanisms alone. We study the impact ofthe wormhole attack on the network flows and delays and introduce apassivity-based control-theoretic framework for modeling the wormhole attack.We develop this framework for both the in-band and out-of-band wormhole attacksas well as complex, hereto-unreported wormhole attacks consisting of arbitrarycombinations of in-and out-of band wormholes. We integrate existing mitigationstrategies into our framework, and analyze the throughput, delay, and stabilityproperties of the overall system. Through simulation study, we show that, byselectively dropping control packets, the wormhole attack can causedisturbances in the physical plant of a networked control system, anddemonstrate that appropriate selection of detection parameters mitigates thedisturbances due to the wormhole while satisfying the delay constraints of thephysical system.

A Passivity Framework for Modeling and Mitigating Wormhole Attacks on Networked Control Systems