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Cyber-Physical Systems (CPSs) are vastly used in today's cities criticalinfrastructure. The cyber part of these systems usually has a network componentthrough which cyber attacks can be launched. In this paper, we first design anintrusion detection system (IDS) by identifying the plant. We assume theinitial operation period of the CPS is attack-free and learn the plant model.Then, we compare the expected output found via the identifier with the real onecoming through the feedback link. Any difference greater than a threshold isdeemed to be an anomaly. To compensate, once the IDS flags a change in theloop, we restart the system identification to find the new transfer function.With the estimation of the new transfer function at hand, a new controller isdesigned to keep the system stable. To test the idea, we took a DC motor as theplant and employed ARX identifier. MATLAB Simulink environment was used to testthe proposed intrusion detection and compensation framework. We applied a setof deception attacks to the forward channel in our experiments. The obtainedresults prove that our detection strategy works well and timely reacts toanomalies. Moreover, they show that the compensation strategy is also effectiveand keeps the system stable under such attacks.

Compensation of Linear Attacks to Cyber Physical Systems through ARX System Identification