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A vector-valued model-based cumulative sum (CUSUM) procedure is proposed foridentifying faulty/falsified sensor measurements. First, given the systemdynamics, we derive tools for tuning the CUSUM procedure in the fault/attackfree case to fulfill a desired detection performance (in terms of false alarmrate). We use the widely-used chi-squared fault/attack detection procedure as abenchmark to compare the performance of the CUSUM. In particular, wecharacterize the state degradation that a class of attacks can induce to thesystem while enforcing that the detectors (CUSUM and chi-squared) do not raisealarms. In doing so, we find the upper bound of state degradation that ispossible by an undetected attacker. We quantify the advantage of using adynamic detector (CUSUM), which leverages the history of the state, over astatic detector (chi-squared) which uses a single measurement at a time.Simulations of a chemical reactor with heat exchanger are presented toillustrate the performance of our tools.

Characterization of Model-Based Detectors for CPS Sensor Faults/Attacks