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Robust Software Rejuvenation for CPS with State Estimation and Disturbances

Software rejuvenation has been proposed and demonstrated as a strategy to protect cyber-physical systems (CSPs) against unanticipated and undetectable cyber attacks, but the supporting theory has neglected the effects of modeling uncertainties and disturbances and has assumed the availability of perfect state information from the sensor measurements. This paper addresses these issues by providing sufficient conditions for the successful implementation of software rejuvenation in the face of these real-world considerations. The results are illustrated for a simple position control system.