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Control systems are exposed to unintentional errors, deliberate intrusions,false data injection attacks, and various other disruptions. In this paper wepropose, justify, and illustrate a rule of thumb for detecting, or confirmingthe absence of, such disruptions. To facilitate the use of the rule, werigorously discuss background results that delineate the boundaries of therule's applicability. We also discuss ways to further widen the applicabilityof the proposed intrusion-detection methodology.

Detecting intrusions in control systems: a rule of thumb, its justification and illustrations