Fig. 3
From: On the use of watermark-based schemes to detect cyber-physical attacks
Numeric simulation results. Attacks start at t = 700 s. a, c The dynamics of the state vector in the plant and in the controller under the cyber adversary attack. b, d The dynamics of the state vector in the plant and in the controller under the non-parametric cyber-physical adversary attack. e, f χ 2 detector results under the two aforementioned attack scenarios. a Plant states, cyber adversary attack. b Plant states, non-parametric cyber-physical adversary attack. c Estimated states in the controller, cyber adversary. d Estimated states in the controller, non-parametric cyber-physical adversary. e Detector results, cyber adversary. f Detector results, non-parametric cyber-physical adversary