Security control of cyber-physical switched systems under Round-Robin protocol: Input-to-state stability in probability

Abstract This work addresses the sliding mode control (SMC) problem for a class of cyber-physical switched systems, in which both the Round-Robin (RR) protocol scheduling and the deception attacks may happen on the controller-to-actuator (C/A) channels. Under the regulation of RR protocol, only one controller node at each instant can access the network and transmit its signal to the corresponding actuator node, that is, the other actuators cannot obtain any new control information. Especially, the transmitted signal could be contaminated by randomly injecting false data. Thus, a key problem is how to design a suitable sliding surface and a desirable sliding mode controller for guaranteeing the dynamic performance of the closed-loop switched systems. To this end, a compensation strategy is proposed for those actuator nodes that don’t receive any new control signals at certain instant, based which a token-dependent SMC law is designed. Besides, the method of input-to-state stability in probability (ISSiP) is introduced and the sufficient conditions are established for the reachability of the specified sliding surface and the ISSiP of the resultant switched systems. Finally, some numerical simulation results are provided.