Attack-resilient Estimation of Switched Nonlinear Cyber-Physical Systems

This paper studies attack-resilient estimation of a class of switched nonlinear systems subject to stochastic process and measurement noises. We consider two classes of attacks which are signal attacks and switching attacks. The problem is formulated as the joint estimation of state, attack vector and mode of hidden-mode switched systems. We propose an estimation algorithm where multiple estimators generate state and attack vector estimates for each modes, and a mode estimator chooses the most likely mode. The stability and mean square estimation error bounds for the designed estimator are guaranteed by the formal analysis. Lastly, we present a numerical simulation on the power system to show the performance of the proposed attack-resilient estimator.