Fig. 9From: On the use of watermark-based schemes to detect cyber-physical attacksSingle- (f = 0) and multi- (f = [0.005, 0.01, 0.02, 0.05, 0.14, 0.25, 0.33]) watermark detectors against a non-parametric cyber-physical adversary (the order of the system is 25)Back to article page