Cross-Layer Design for Secure and Resilient Cyber-Physical Systems: A Decision and Game Theoretic Approach

215 Pages·2020·7.244 MB·English

by  Quanyan Zhu, Zhiheng Xu

Advances in Information Security 81
Quanyan Zhu
Zhiheng Xu
Cross-Layer
Design for Secure
and Resilient
Cyber-Physical
Systems
A Decision and Game Theoretic
Approach
Advances in Information Security
Volume 81
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Quanyan Zhu • Zhiheng Xu
Cross-Layer Design for
Secure and Resilient
Cyber-Physical Systems
A Decision and Game Theoretic Approach
QuanyanZhu ZhihengXu
ElectricalandComputerEngineering ElectricalandComputerEngineering
NewYorkUniversity NewYorkUniversity
NewYork,NY,USA NewYork,NY,USA
ISSN1568-2633 ISSN2512-2193 (electronic)
AdvancesinInformationSecurity
ISBN978-3-030-60250-5 ISBN978-3-030-60251-2 (eBook)
https://doi.org/10.1007/978-3-030-60251-2
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Preface
This book presents control and game-theoretic tools to design secure and resilient
cyber-physical systems, including cloud-enabled control systems, 3D printers,
roboticsystems,andcommunication-basedtraincontrol(CBTC)systems.Wetake
a cross-layer perspective toward the design of these systems, as they are naturally
composed of interdependent cyber and physical layers. The first part of the book
(Chaps.1and2)givesageneraloverviewofthephilosophyofthecross-layerdesign
and its implications in smart cities, the Internet of Things, and industrial control
systems. The second part of the book, which comprises Chaps. 3 to 5, focuses on
securing cloud-enabled systems using customized cryptographic approaches. The
applicationsofcloud-enabledsystemsarenowubiquitousinrobotics,manufactur-
ingsystems,anddistributedmachinelearning.Thispartincludesextensivecoverage
of various techniques, including event-trigger control, homomorphic encryption,
andcustomizedencryptionforoutsourcingcomputation,inthecontextofdynamical
systems.
Part III of the book presents game-theoretic approaches for cyber-physical
systemsecurityandresilience.Thispartprovidesarangeofapplications,including
3D printers (Chap. 7), CBTC systems (Chap. 8), digital twins (Chap. 9), and
robotic operating systems (Chap. 11), to demonstrate the application of game-
theoretic tools. To help readers understand the analytical tools developed in these
applications, Chaps. 6 and 10 give an overview of game theory and the partially
observed Markov decision processes, respectively. Part IV of the book (Chap. 12)
discussesthefutureresearchandchallengesinthisdirection.
This book bridges multiple areas of research, including cryptography, control
theory,gametheory,andwirelesscommunications.Itcontributestothesystem-of-
systemstheorythatprovidesaholisticapproachforcyber-physicalsystems.PartII
ofthebookhasendeavoredtoestablishtheconnectionsbetweencryptographyand
controltheory.Cryptographyisintegratedintothecontroldesign,whilethecontrol
theory informs the design of appropriate cryptographic solutions. The linkages
betweenthetwofieldsarecentraltoprovidingfundamentalsecurityguaranteesfor
cyber-physicalsystems.PartIIIofthebookoffersaunifyingsecurityandresiliency
framework from the lens of game theory. Game theory is a mathematical science
vii
viii Preface
thatinvestigatesthestrategicinteractionsamongdifferentagentsorplayers.Itcan
beusedtodescribetheinteractionsbetweenadefenderandanattacker,acontroller
and disturbance, or interdependent networks. The observation that game-theoretic
modelscancapturebothcyberandphysicalinteractionsnaturallyleadstoaholistic
methodologyforcross-layeranalysisanddesign.
This book is useful as a supplementary textbook for a graduate-level course
on recent advances in cyber-physical system security. Chapters 6 and 10, together
withthematerialsintheappendices,providenecessarytheoreticalbackgroundsfor
graduatestudentsandpractitioners.Otherchaptersinthebookwillprovidereaders
a number of case studies that can motivate readers to solve similar problems at
hand. This book is not meant to be comprehensive but aims to motivate readers
to adopt a cross-layer system perspective toward security and resilience issues of
large and complex systems. Readers are encouraged to collaborate with different
domainexpertsanddeveloptheirmethodologiesthatinterconnectmultipleresearch
domains. In this way, we will witness a growing literature in this area and new
excitingcross-disciplinaryapproachestosystemsofsystems.
Both authors would like to acknowledge their association with the Center for
Cyber Security (CCS) and the Center for Urban Science and Progress (CUSP) at
the New York University (NYU) when a major part of this book was completed.
TheofferingofthespecialtopicscourseonSystemFoundationsforCyber-Physical
SystemSecurityandResilienceinSpring2018hasmotivatedtheneedfortextbooks
andaccessiblereadingmaterialsinthearea.Thefirstdraftofthisbooktookshape
afterthesecondauthorcompletedhisdissertationin2017.Thankstohispersistence,
we were able to finalize the draft in 2020. We both like to take this opportunity
to thank many of our colleagues and students for their inputs and suggestions.
Special thanks go to members of the Laboratory of Agile and Resilient Complex
Systems(LARX)attheNYU,includingJeffreyPawlick,JuntaoChen,RuiZhang,
TaoZhang,JunaidFarooq,LinanHuang,YunhanHuang,andGuanzePeng.Their
encouragement and support have made this book possible. The first author would
alsoliketoacknowledgethefundingsupportfromtheNationalScienceFoundation
(NSF)andtheArmyResearchOffice(ARO)fortheirsupportofthisresearch.
NewYork,NY,USA QuanyanZhu
Singapore,Singapore ZhihengXu
July2020
Contents
PartI MotivationandFramework
1 Introduction................................................................. 3
1.1 Cyber-PhysicalSystemsandSmartCities .......................... 3
1.2 NewChallengesinCPS.............................................. 3
1.3 OverviewandRelatedWorks........................................ 5
1.4 OutlineoftheBook .................................................. 7
2 Cross-LayerFrameworkforCPSs ....................................... 9
2.1 IntroductiontoCross-LayerDesign................................. 9
2.2 Cross-LayerDesign:ConnectingCryptographyandControl
Theory ................................................................ 11
2.3 Cross-Layer Design: Connecting Game Theory with
ControlTheory ....................................................... 12
2.4 Cross-LayerDesignUnderIncompleteInformation ............... 13
2.5 Conclusions........................................................... 15
PartII SecureOutsourcingComputationsofCPS
3 NewArchitecture:Cloud-EnabledCPS.................................. 19
3.1 PromisingApplicationsofCE-CPSs................................ 19
3.1.1 Cloud-EnabledRobotics ................................... 19
3.1.2 Cloud-EnabledSmartGrids................................ 20
3.1.3 Cloud-EnabledTransportSystems......................... 21
3.1.4 Cloud-EnabledManufacturing............................. 22
3.2 NewSecurityRequirementsofCE-CPSs........................... 23
3.3 Conclusions........................................................... 23
4 SecureandResilientDesignofCould-EnabledCPS.................... 25
4.1 NewChallengesandProposedSolutionsofCE-CPS .............. 25
4.2 ProblemStatements.................................................. 27
4.3 SystemDynamicsandMPCAlgorithm............................. 27
ix
x Contents
4.4 TheStandardFormofQuadraticProblem.......................... 28
4.4.1 CloudAttackModels....................................... 29
4.4.2 TheFrameworkoftheProposedMechanism ............. 29
4.5 ConfidentialityandIntegrity......................................... 29
4.5.1 EncryptionMethods........................................ 30
4.5.2 VerificationMethods ....................................... 31
4.6 AvailabilityIssues.................................................... 32
4.6.1 SwitchingModeMechanism............................... 32
4.6.2 BufferModeandSwitchingCondition ................... 33
4.6.3 TheLocalControllerfortheSafeMode................... 34
4.7 AnalysisandExperiments ........................................... 35
4.8 ConclusionsandNotes............................................... 40
5 SecureDataAssimilationofCloudSensorNetworks................... 43
5.1 IntroductiontoCE-LSNs ............................................ 43
5.2 ProblemFormulation................................................. 45
5.2.1 SystemModelandtheOutsourcingKalmanFilter ....... 45
5.2.2 ChallengesandDesignObjectives......................... 46
5.3 TheSecureOutsourcingDataAssimilation......................... 47
5.3.1 TheAdditiveHomomorphicEncryption .................. 47
5.3.2 TheHomomorphicObserver............................... 48
5.3.3 CustomizedEncryptionforOutsourcingComputation... 49
5.4 AnalysisoftheEfficiencyandSecurity............................. 51
5.4.1 EfficiencyAnalysis......................................... 52
5.4.2 SecurityAnalysis........................................... 52
5.5 AnalysisofQuantizationErrors..................................... 52
5.6 ExperimentalResults................................................. 54
5.6.1 TheOutputoftheEncryptedInformation................. 55
5.6.2 TheImpactoftheQuantizationErrors .................... 56
5.7 ConclusionsandNotes............................................... 57
PartIII Game-TheoreticApproachforCPS
6 ReviewofGameTheory ................................................... 61
6.1 IntroductiontoGameTheory........................................ 61
6.2 Two-PersonZero-SumGameModel................................ 61
6.2.1 FormulationoftheZero-SumGame....................... 62
6.3 StackelbergGameModel............................................ 63
6.3.1 FormulationoftheStackelbergGame..................... 63
6.3.2 SecurityDesignBasedonStackelbergGame............. 63
6.4 FlipItGameModel................................................... 64
6.4.1 FormulationofFlipItGame............................ 65
6.4.2 AnalysisoftheFlipItGame............................ 66
6.5 SignalingGamewithEvidence...................................... 67
6.6 ConclusionandNotes................................................ 69