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IEEE 1588, built on the classical two-way message exchange scheme, is apopular clock synchronization protocol for packet-switched networks. Due to thepresence of random queuing delays in a packet-switched network, the jointrecovery of the clock skew and offset from the timestamps of the exchangedsynchronization packets can be treated as a statistical estimation problem. Inthis paper, we address the problem of clock skew and offset estimation for IEEE1588 in the presence of possible unknown asymmetries between the {\color{black}deterministic path delays} of the forward master-to-slave path and reverseslave-to-master path, which can result from incorrect modeling orcyber-attacks. First, we develop lower bounds on the mean square estimationerror for a clock skew and offset estimation scheme for IEEE 1588 assuming theavailability of multiple master-slave communication paths and completeknowledge of the probability density functions (pdf) describing the randomqueuing delays. Approximating the pdf of the random queuing delays by a mixtureof Gaussian random variables, we then present a robust iterative clock skew andoffset estimation scheme that employs the space alternating generalizedexpectation-maximization (SAGE) algorithm for learning all the unknownparameters. Numerical results indicate that the developed robust schemeexhibits a mean square estimation error close to the lower bounds.

Robust Clock Skew and Offset Estimation for IEEE 1588 in the Presence of Unexpected Deterministic Path Delay Asymmetries