Cyber-physical Power System Research Articles

Federated Deep Learning Model for False Data Injection Attack Detection in Cyber Physical Power Systems

Cyber-physical power systems (CPPS) integrate information and communication technology into conventional electric power systems to facilitate bidirectional communication of information and electric power between users and power grids. Despite its benefits, the open communication environment of CPPS is vulnerable to various security attacks. This paper proposes a federated deep learning-based architecture to detect false data injection attacks (FDIAs) in CPPS. The proposed work offers a strong, decentralized alternative with the ability to boost detection accuracy while maintaining data privacy, presenting a significant opportunity for real-world applications in the smart grid. This framework combines state-of-the-art machine learning and deep learning models, which are used in both centralized and federated learning configurations, to boost the detection of false data injection attacks in cyber-physical power systems. In particular, the research uses a multi-stage detection framework that combines several models, including classic machine learning classifiers like Random Forest and ExtraTrees Classifiers, and deep learning architectures such as Long Short-Term Memory (LSTM) and Gated Recurrent Unit (GRU). The results demonstrate that Bidirectional GRU and LSTM models with attention layers in a federated learning setup achieve superior performance, with accuracy approaching 99.8%. This approach enhances both detection accuracy and data privacy, offering a robust solution for FDIA detection in real-world smart grid applications.

A detection model for false data injection attacks in smart grids based on graph spatial features using temporal convolutional neural networks

Due to the intelligence and opening of future generation cyber–physical power systems, smart grids are vulnerable to the emergency of cyber-attacks aiming at the cyber–physical systems. Among these attacks, false data injection (FDI) attacks are particularly concerning in smart grids due to their stealthiness. Attackers can tamper with data transmitted through communication networks, influencing the analysis results of the control center, leading it to make wrong decisions and thereby undermining the stability of smart grids. The inability of traditional bad data detection models to detect false data injection attacks poses huge security risks to smart grids. For this reason, a new attack detection model using spatial–temporal features is proposed. The proposed detection model includes the following two parts: spatial features extraction and temporal convolutional network. First, graph convolutional operations are employed to disentangle the interactions among buses and extract spatial features of measurement; Then, the temporal convolutional network model is used to extract the temporal features. Through these processes, the proposed detection model can effectively identify the injected false data injection attacks in smart grids. The detection performance and robustness of the proposed FDI attack detection model are tested through simulations on IEEE 14-bus and 118-bus grid systems.

Robust Optimization Research of Cyber-Physical Power System Considering Wind Power Uncertainty and Coupled Relationship.

To mitigate the impact of wind power uncertainty and power-communication coupling on the robustness of a new power system, a bi-level mixed-integer robust optimization strategy is proposed. Firstly, a coupled network model is constructed based on complex network theory, taking into account the coupled relationship of energy supply and control dependencies between the power and communication networks. Next, a bi-level mixed-integer robust optimization model is developed to improve power system resilience, incorporating constraints related to the coupling strength, electrical characteristics, and traffic characteristics of the information network. The upper-level model seeks to minimize load shedding by optimizing DC power flow using fuzzy chance constraints, thereby reducing the risk of power imbalances caused by random fluctuations in wind power generation. Furthermore, the deterministic power balance constraints are relaxed into inequality constraints that account for wind power forecasting errors through fuzzy variables. The lower-level model focuses on minimizing traffic load shedding by establishing a topology-function-constrained information network traffic model based on the maximum flow principle in graph theory, thereby improving the efficiency of network flow transmission. Finally, a modified IEEE 39-bus test system with intermittent wind power is used as a case study. Random attack simulations demonstrate that, under the highest link failure rate and wind power penetration, Model 2 outperforms Model 1 by reducing the load loss ratio by 23.6% and improving the node survival ratio by 5.3%.

A deep learning deviation-based scheme to defend against false data injection attacks in power distribution systems

Defending against false data injection attacks (FDIAs) in cyber-physical power systems is crucial. Detection in power distribution systems is complex due to load variations, uncertainties, and fewer meters. Defense strategies include model-driven and data-driven approaches, but model-based methods can trigger false alarms due to threshold setting issues. The current research proposes a novel data-driven method to address threshold setting issues in detecting and localizing FDIAs in power distribution systems. First, a dataset is created by recording estimated measurement values using an unscented Kalman filter and weighted least squares across various attack scenarios. These estimated measurements are then fed into a deep artificial neural network (ANN) for binary classification to detect attacks. The output, along with the estimated measurements, is used by another ANN to localize the corrupted meter zone. This deep learning-based approach improves threshold setting over the common chi-square method. Results show that the proposed deep learning method for FDIA detection and localization outperforms a recently proposed ensemble of shallow models. The area under the curve value increases by about 5% with lower training time. The approach is also effective against previously unseen attack strategies and different feeder topologies.

Guest Editorial: Special section on Resilient Control of Cyber-Physical Power and Energy Systems

Guest Editorial: Special section on Resilient Control of Cyber-Physical Power and Energy Systems

The data recovery strategy on machine learning against false data injection attacks in power cyber physical systems

During the transmission of power measurement data through communication networks from remote terminal unit (RTU) to the state estimator in Supervisory Control and Data Acquisition (SCADA), power cyber-physical systems (PCPSs) are more susceptible to cyber-attacks. To mitigate that threat, this paper is concerned with a new data recovery strategy on machine learning against false data injection attacks (FDIAs) in PCPSs. Firstly, in view of the limited resources (such as limited energy) of adversaries and system protections, a sparse target false data injection attack (FDIA) is constructed. Then, the FDIA detection problem is transformed into a tripartite separation problem, and the alternating direction method of multipliers on proximal exchange (ADMM-PE) is adopted to complete the intrusion detection of FDIAs. In addition, with the help of reliable mask information and real incomplete measurement data provided by the FDIA detection, a similar supervised generative adversarial imputation networks (GAIN) is proposed to complete the measurement data recovery after FDIAs. Specifically, the pseudo labels generated by data analysis methods such as k-means clustering and support vector machine (SVM) to improve the accuracy of measurement data recovery. Finally, the experimental results of PCPSs show the effectiveness and superiority of the proposed data recovery strategy against FDIAs.

Resilience enhancement by line hardening for communication routing considering renewable energy sources in cyber‐physical power systems

AbstractCommunication routing of cyber‐physical power systems (CPPS) with the high penetration of renewable energy sources (RES) plays an important role in the resilience enhancement against disasters, natural and man‐made alike. Therefore, a trilevel optimization model is proposed for the CPPS resilience enhancement with the RES against extreme events. The upper‐level model identifies optimal hardening lines of both the transmission and communication networks with consideration of the communication routing constraints. The middle‐level model identifies the attacked lines to maximize load shedding of the power system. The effects of RES uncertainty and communication routings on resilience enhancement are analysed. The lower‐level model attains an optimal allocation strategy of power generation to minimize load shedding. The model is solved by the column‐and‐constraint generation algorithm. Case studies are conducted on the IEEE 14‐bus, RTS 24‐bus, and 118‐bus system. The results show that the proposed hardening strategy can effectively ensure the adaptiveness of the transmission network and communication routing to improve the resilience of CPPS to extreme events. Moreover, it is observed that the load loss and total investment cost are heavily affected without and with RES.

Transforming smart homes via P2P energy trading using robust forecasting and scheduling framework

With the advent of smart grids, advanced information infrastructures, advanced metering facilities, bidirectional exchange of information, and battery storage home area networks have all transformed the electricity consumption and energy efficiency. There is a significant shift in the energy management structure from the traditional centralized infrastructure to the flexible demand side driven cyber-physical power systems with clean energy and energy storage system. These changes have significantly evolved the home energy management (HEM) space. Consequently, stakeholders must define their responsibilities, create efficient regulatory frameworks, and test out novel commercial strategies. P2P energy trading appears to be a feasible solution in these circumstances, allowing users to trade electricity with one another before becoming completely reliant on the utility. P2P energy trading offers a more stable platform for energy trade by facilitating the exchange of energy between prosumers and consumers. This research proposes a novel demand and generation prediction techniques of P2P HEMS for optimal energy using the Multi-Objective Optimization model. An enhanced Wild Horse Optimization technique was first used to summarize historical records' qualities. Then, the Bi-LSTM is used to predict the demand and generation values. Furthermore, a Grasshopper optimization (GHO) approach is employed to fine-tune the model's hyperparameters. The P2P HEMS demand and generation prediction framework is offered with a probabilistic and fault evaluation that upholds load flow balance between need and supply for continuous operations. It results in an intelligent community transforming cities into smart ones, opening new avenues for scientific research in terms of technological developments.

Improving resilience of cyber–physical power systems against cyber attacks through strategic energy storage deployment

The widespread integration of advanced technologies has increased the vulnerability of Cyber–Physical Power Systems (CPPS) against cyber attacks. In addition, the incorporation of renewable energy sources (RESs) poses extra uncertainty challenges in CPPS security. In this paper, focusing on resilience assessment and improvement, we first propose a comprehensive framework to reveal the whole process from attack initiation to performance recovery. Then, regarding the protection strategies before and after cyber attacks, we improve resilience performance by protecting critical nodes and deploying energy storage nodes. The effectiveness of our proposed methods is validated through testing on a simulated model, which couples the IEEE 39-bus power system with a scale-free communication network. The results demonstrate that the deployment of energy storage plays a significant role in suppressing the uncertainty of RESs and improving the resilience of CPPS against cyber attacks. In addition, we employ a heuristic algorithm to optimize the placement of energy storage nodes. Our work not only represents an overview of the resilience process but also provides system dispatchers with practical strategies for improving the resilience of renewable CPPS against the growing threat of cyber attacks.

Defense strategy selection based on incomplete information game for the false data injection attack

With the rapid development and wide application of sensing devices and communication networks, the traditional power system has transformed into a cyber physical power system (CPPS) gradually. The constant interaction of information flow and power flow exposes the grid to potential cyber-attack risks. In this paper, the defense strategy selection approaches are proposed based on incomplete information game against false data injection attack (FDIA) in different scenarios. Firstly, the attack-defense tree model containing economic indicators and a measure of attack is established, and the expected revenues of both attacker and defender are calculated in detail. Secondly, the static Bayesian attack-defense game model in which the defender grasps incomplete information is constructed, considering two cases of low-tech attacker and high-tech attacker. Then, the zero-sum attack-defense game model in which the attacker masters incomplete information is structured, considering the changing attack space. Finally, the simulations are carried out on the IEEE 30-bus system, and the optimal defense strategies in the case of two incomplete information are obtained by solving the equilibrium point. The simulation results demonstrate that the proposed method is effective in cyber security defense system, and can provide guiding ideology and theoretical basis for operators to deploy defense measures.

Impact of Communication Link Overload on Power Flow and Data Transmission in Cyber–Physical Power Systems

Impact of Communication Link Overload on Power Flow and Data Transmission in Cyber–Physical Power Systems

Improving cyber-physical-power system stability through hardware-in-loop co-simulation platform for real-time cyber attack analysis

With advancements in communication systems and measurement technologies, smart grids have become more observable and controllable, evolving into cyber-physical-power systems (CPPS). The impact of network security and secondary equipment on power system stability has become more evident. To support the existing grid toward a smart grid scenario, smart metering plays a vital role at the customer end side. Cyber-Physical systems are vulnerable to cyber-attacks and various techniques have been evolved to detect a cyber attack in the smart grid. Weighted trust-based models are suggested as one of the most effective security mechanisms. A hardware-in-loop CPPS co-simulation platform is established to facilitate the theoretical study of CPPS and the formulation of grid operation strategies. This paper examines current co-simulation platform schemes and highlights the necessity for a real-time hard-ware-in-the-loop platform to accurately simulate cyber-attack processes. This consideration takes into account the fundamental differences in modeling between power and communication systems. The architecture of the co-simulation platform based on RT-LAB and OPNET is described, including detailed modeling of the power system, communication system, and security and stability control devices. Additionally, an analysis of the latency of the co-simulation is provided. The paper focuses on modeling and implementing methods for addressing DDOS attacks and man-in-the-middle at-tacks in the communication network. The results from simulating a 7-bus system show the effectiveness and rationality of the co-simulation platform that has been designed.

Adaptive fuzzy backstepping secure control for incommensurate fractional order cyber–physical power systems under intermittent denial of service attacks

This paper proposes a fuzzy adaptive control strategy, based on backstepping, for incommensurate fractional-order power systems under denial-of-service (DoS) attacks. To address a wider range of fractional-order systems, this study assumes that the agents’ dynamics where each state have non-identical fractional derivative orders. This assumption brings up additional complexity to the design of the secure control system compared to existing approaches. Our approach tackles the challenge of maintaining system stability during both normal and attack periods by integrating adaptive control technique. The method includes an attack compensator to manage unavailable output measurements during attacks and a fuzzy estimator to approximate unobservable states. It also employs a fractional-order adaptive law and a backstepping controller to ensure performance and security, maintaining bounded tracking errors. MATLAB simulations confirm the effectiveness and robustness of the proposed method, demonstrating its ability to protect power systems from cyber threats while ensuring operational integrity and stability. Compared to prior studies, the presence of an attack compensator reduces both overshoots and convergence time following each attack.

Research on Power Cyber-Physical Cross-Domain Attack Paths Based on Graph Knowledge

Against the background of the construction of new power systems, power generation, transmission, distribution, and dispatching services are open to the outside world for interaction, and the accessibility of attack paths has been significantly enhanced. We are facing cyber-physical cross-domain attacks with the characteristics of strong targeting, high concealment, and cross-space threats. This paper proposes a quantitative analysis method for the influence of power cyber-physical cross-domain attack paths based on graph knowledge. First, a layered attack graph was constructed based on the cross-space and strong coupling characteristics of the power cyber-physical system business and the vertical architecture of network security protection focusing on border protection. The attack graph included cyber-physical cross-domain attacks, control master stations, measurement and control equipment failures, transient stable node disturbances, and other vertices, and achieved a comprehensive depiction of the attack path. Second, the out-degree, in-degree, vertex betweenness, etc., of each vertex in the attack graph were comprehensively considered to calculate the vertex vulnerability, and by defining the cyber-physical coupling degree and edge weights, the risk of each attack path was analyzed in detail. Finally, the IEEE RTS79 and RTS96 node systems were selected, and the impact of risk conduction on the cascading failures of the physical space system under typical attack paths was analyzed using examples, verifying the effectiveness of the proposed method.

The Information Security Issues of Distributed Economic Dispatch for New Generation Power Systems—Present Situation and Forecast

With the large scale and high proportion of distributed generation connected to the power grid, the distributed economic dispatch system has attracted more attention because of its significant advantages. However, the distributed economic dispatch system faces more serious information security issues due to the variation of communication topology. Therefore, the purpose of this paper is to review the information security issues that may occur in the distributed economic dispatch system and the defense measures. By summarizing the existing literature on information security issues and defense measures, it can be found that the current research focuses on the cyber-side defense for information security, and lacks consideration of the cyber-physical coupling characteristics. Additionally, the separate cyber-side defense measures still have a defense blind spot and cannot respond in a timely manner to the physical-side actions caused by information security issues. Finally, the establishment of the information security issues model and the construction of the integrated security defense system are discussed from the perspective of the power cyber-physical system. This research will be helpful in the construction of the security defense system for information issues in distributed economic dispatch systems.

Cyber-Physical Modeling and Vulnerability Assessment of Substations for Transmission System Operator

In bulk power systems, the majority of interaction between cyber and physical components takes place in substations. However, in most of the cyber–physical power system models the physical layer is typically done using the bus-branch (BB) model, where each substation is considered as a single node. This approach will not capture the details of the cyber layer. This paper proposes a framework to model the substations using node-breaker (NB) models for physical system representation so that the detailed station configurations, the current and the voltage transformer positions, arrangements of protective relays, bay control units and associated communication infrastructure within the substations and its dependencies on the physical elements can be captured effectively using a single cyber–physical graph. Keeping a transmission system operator in view, who does not use power flow and security assessment tools for station operations and maintenance, a vulnerability assessment approach is proposed to assess the risk using some representative attack scenarios. The proposed approach is demonstrated using WECC 3-machine system for breaker and half station configuration. The attack scenarios are developed based on the real substation configuration and the adversary’s ability to understand the substation protection and BI/BO operations.

Packet Routing and Energy Cooperation for RTU Satellite-Terrestrial Multi-Hop Network in Remote Cyber-Physical Power System

Packet Routing and Energy Cooperation for RTU Satellite-Terrestrial Multi-Hop Network in Remote Cyber-Physical Power System

Artificial intelligence-based approach for islanding detection in cyber-physical power systems

Modern power grids, functioning as a cyber-physical system (CPS), accommodate high penetration level of distributed generations (DGs) to ensure sustainability. Achieving sustainability through grid-scale DGs, however, increases the likelihood of islanding occurrences, which jeopardizes a major parameter of CPS implementation: security. This paper proposes an artificial intelligence-based approach for detecting islanding in modern power grids. The method utilizes measured voltage and frequency to develop a fuzzy center of gravity (COG)-based equivalent model of the system. The model is derived by combining data collected from phasor measurement units (PMUs) with fundamental dynamical equations that govern power system dynamics. In this model, the system is represented using a set of fictitious reactances calculated using goal programming, which are then utilized to connect the COG to the local centers of inertia (COIs). By having a set of fictitious reactances for various operating points fed into a fuzzy model, one could develop an online model to calculate the fictitious reactances with high accuracy and speed at specific snapshots. By incorporating the maximum allowable phase differences between areas into the COG model to ensure transient stability, one could enhance the developed model to be robust against cyber-physical contingencies and cyber-attacks, albeit at the expense of a slight reduction in accuracy. The calculated fictitious reactances, represented in terms of local frequencies throughout the system, serve as valuable indicators for detecting islanding. By classifying the calculated fictitious reactances using support vector clustering over a period of time, islanding could be detected with high accuracy. Furthermore, incorporating the COG concept with the clustering based on fictitious reactances makes it possible to detect false data injection in an area of the system. The efficacy of the proposed method is assessed using simulated data from the renewable integrated 73-bus IEEE test system.

Relatively important node identification for cyber–physical power systems based on relatively weighted entropy

In recent years, a large number of scholars have paid attention to the identification of vital nodes of cyber–physical power systems. However, in addition to these vital nodes, other relatively important nodes in the system have important research significance. For example, when a vital node in the system has been damaged, avoiding further damage is particularly important. We can obtain useful information from these vital nodes and find out which nodes are relatively important for these nodes to protect, which can prevent further cascading of failures to some extent. In this paper, we aim to identify the relatively important nodes and define the connection tightness index of any two nodes. By combining these indexes with relative entropy, we can correctly measure the degree of difference between any two nodes and sort them to determine the relative importance of nodes. The results show that the proposed strategy can evaluate relatively important nodes without distinguishing between power network and communication network. It is also possible to identify nodes that are relatively important to the network on one side of the cyber–physical power system by the importance of the network nodes on the other side, and this is superior to other strategies.

Trustworthy cyber-physical power systems using AI: dueling algorithms for PMU anomaly detection and cybersecurity

Energy systems require radical changes due to the conflicting needs of combating climate change and meeting rising energy demands. These revolutionary decentralization, decarbonization, and digitalization techniques have ushered in a new global energy paradigm. Waves of disruption have been felt across the electricity industry as the digitalization journey in this sector has converged with advances in artificial intelligence (AI). However, there are risks involved. As AI becomes more established, new security threats have emerged. Among the most important is the cyber-physical protection of critical infrastructure, such as the power grid. This article focuses on dueling AI algorithms designed to investigate the trustworthiness of power systems’ cyber-physical security under various scenarios using the phasor measurement units (PMU) use case. Particularly in PMU operations, the focus is on areas that manage sensitive data vital to power system operators’ activities. The initial stage deals with anomaly detection applied to energy systems and PMUs, while the subsequent stage examines adversarial attacks targeting AI models. At this stage, evaluations of the Madry attack, basic iterative method (BIM), momentum iterative method (MIM), and projected gradient descend (PGD) are carried out, which are all powerful adversarial techniques that may compromise anomaly detection methods. The final stage addresses mitigation methods for AI-based cyberattacks. All these three stages represent various uses of AI and constitute the dueling AI algorithm convention that is conceptualised and demonstrated in this work. According to the findings of this study, it is essential to investigate the trade-off between the accuracy of AI-based anomaly detection models and their digital immutability against potential cyberphysical attacks in terms of trustworthiness for the critical infrastructure under consideration.