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Actuator injection attacks pose real threats to all industrial plantscontrolled through communication networks. In this manuscript, we study thepossibility of constraining the controller output (i.e. the input to theactuators) by means of a dynamic filter designed to prevent reachability ofdangerous plant states - preventing thus attacks from inducing dangerous statesby tampering with the control signals. The filter synthesis is posed as thesolution of a convex program (convex cost with Linear Matrix Inequalitiesconstraints) where we aim at shifting the reachable set of control signals toavoid dangerous states while changing the controller dynamics as little aspossible. We model the difference between original control signals and filteredones in terms of the H-infinity norm of their difference, and add this norm asa constraint to the synthesis problem via the bounded-real lemma. Results areillustrated through simulation experiments.

Enforcing Safety under Actuator Attacks through Input Filtering