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Motivated by the need to secure cyber-physical systems against attacks, weconsider the problem of estimating the state of a noisy linear dynamical systemwhen a subset of sensors is arbitrarily corrupted by an adversary. We propose asecure state estimation algorithm and derive (optimal) bounds on the achievablestate estimation error. In addition, as a result of independent interest, wegive a coding theoretic interpretation for prior work on secure stateestimation against sensor attacks in a noiseless dynamical system.

Secure State Estimation: Optimal Guarantees against Sensor Attacks in the Presence of Noise