State estimation for linear discrete-time systems with binary-valued quantized innovations against data tampering attacks

Abstract

In today’s information era, cyber–physical systems (CPS) have been widely used in many industrial and infrastructure fields, and the study of security problems of CPS has become a crucial issue. For linear discrete-time systems, this paper investigates the state estimation problem based on the quantized innovations and transmission data tampering scenarios. From the attacker’s view, by designing the tampering matrix and combining the property of the error function, the optimal attack strategy in the sense of maximizing the prediction error covariance matrix is given. From the defender’s view, the optimal defense scheme based on multiplicative compensation is given in the case of a known attack strategy. Moreover, in the case of unknown attack strategies, a joint estimation algorithm is designed to give the optimal defense scheme subject to error constraints. In this paper, state estimators in recursive form are given for all above cases, and the algorithms are proved to be consistent. The theoretical results obtained are verified by simulations.