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This paper considers the problem of set-based state estimation for lineartime-invariant (LTI) systems under time-varying sensor attacks. Provided thatthe LTI system is stable and observable via every single sensor and that atleast one sensor is uncompromised, we guarantee that the true state is alwayscontained in the estimated set. We use zonotopes to represent these sets forcomputational efficiency. However, we show that intelligently designed stealthyattacks may cause exponential growth in the algorithm's worst-case complexity.We present several strategies to handle this complexity issue and illustrateour resilient zonotope-based state estimation algorithm on a rotating targetsystem.

Resilient Set-based State Estimation for Linear Time-Invariant Systems Using Zonotopes