Fig. 6
From: On the use of watermark-based schemes to detect cyber-physical attacks
Numeric simulation results using the single- and multi-watermark detection schemes. Confronting the performance of the two detectors. (I) χ 2 detector in [4,5] and cyber adversary. (II) χ 2 detector and non-parametric cyber-physical adversary. (III) Multi-watermark detector with switching frequency set to 0.14 Hz and non-parametric cyber-physical adversary. (IV) Multi-watermark detector with switching frequency set to 0.05 Hz and non-parametric cyber-physical adversary