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Fig. 5 | EURASIP Journal on Information Security

Fig. 5

From: On the use of watermark-based schemes to detect cyber-physical attacks

Fig. 5

Numeric simulation results. Attacks start at t = 700 s. a, b The dynamics of the states vector in the plant under a non-parametric cyber-physical adversary attack and switching frequency configured with two different configurations (0.14 and 0.05 Hz). c, d The dynamics of the states vector estimated in the controller, under the same scenarios. e, f The dynamics of the alarm signal g t produced by the multi-watermark-based detector, under the same scenarios. a Plant states under a non-parametric cyber-physical adversary attack and switching frequency set to 0.14 Hz, i.e., every 7 timesteps, the controller changes the distribution associated with the watermark. b Plant states under a non-parametric cyber-physical adversary attack and switching frequency set to 0.05 Hz, i.e., every 20 timesteps, the controller changes the distribution associated with the watermark. c Estimated states in the controller under a non-parametric cyber-physical adversary attack and switching frequency set to 0.14 Hz. d Estimated states in the controller under a non-parametric cyber-physical adversary attack and switching frequency set to 0.05 Hz. e Detector results, switching frequency set to 0.14 Hz. f Detector results, switching frequency set to 0.05 Hz

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