Fig. 14
From: On the use of watermark-based schemes to detect cyber-physical attacks
Experimental testbed results. The horizontal solid line represents the threshold. The vertical dotted line represents the moment when the attack starts. Peaks on the left side of the vertical dotted line represent false positives. a, b detection values of g t , without and with stationary watermark under replay attack. c, d detection values with stationary and non-stationary watermark under non-parametric attack. And e, f detection values with stationary and non-stationary watermark under parametric attack. a No watermark under replay attack. b Stationary watermark under replay attack. c Stationary watermark under non-parametric attack. d Non-stationary watermark under non-parametric attack. e Stationary watermark under parametric attack. f Non-stationary watermark under parametric attack