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Software rejuvenation has been proposed as a strategy to protectcyber-physical systems (CSPs) against unanticipated and undetectable cyberattacks. The basic idea is to refresh the system periodically with a secure andtrusted copy of the online software so as to eliminate all effects of maliciousmodifications to the run-time code and data. Following each software refresh asafety controller assures the CPS is driven to a safe state before returning tothe mission control mode when the CPS is again vulnerable attacks. This paperconsiders software rejuvenation design from a control-theoretic perspective.Invariant sets for the Lyapunov function for the safety controller are used toderive bounds on the time that the CPS can operate in mission control modebefore the software must be refreshed and the maximum time the safetycontroller will require to bring the CPS to a safe operating state. With theseresults it can be guaranteed that the CPS will remain safe under cyber attacksagainst the run-time system and will be able to execute missions successfullyif the attacks are not persistent. The general approach is illustrated usingsimulation of the nonlinear dynamics of a quadrotor system. The concludingsection discusses directions for further research.

Design of Software Rejuvenation for CPS Security Using Invariant Sets