{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T00:01:42Z","timestamp":1778716902117,"version":"3.51.4"},"reference-count":59,"publisher":"Association for Computing Machinery (ACM)","issue":"5s","license":[{"start":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T00:00:00Z","timestamp":1631836800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"International Conference on Embedded Software"},{"name":"NSF","award":["CCF-2028740, ONR N00014-17-1-2012, ONR N00014-20-1-2744"],"award-info":[{"award-number":["CCF-2028740, ONR N00014-17-1-2012, ONR N00014-20-1-2744"]}]},{"DOI":"10.13039\/100006602","name":"AFRL","doi-asserted-by":"crossref","award":["FA8650-16-C-2642"],"award-info":[{"award-number":["FA8650-16-C-2642"]}],"id":[{"id":"10.13039\/100006602","id-type":"DOI","asserted-by":"crossref"}]},{"name":"National Science Foundation"},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/100006602","name":"U.S. Air Force Research Laboratory","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100006602","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Embed. Comput. Syst."],"published-print":{"date-parts":[[2021,10,31]]},"abstract":"<jats:p>The increasing autonomy and connectivity in cyber-physical systems (CPS) come with new security vulnerabilities that are easily exploitable by malicious attackers to spoof a system to perform dangerous actions. While the vast majority of existing works focus on attack prevention and detection, the key question is \u201cwhat to do after detecting an attack?\u201d. This problem attracts fairly rare attention though its significance is emphasized by the need to mitigate or even eliminate attack impacts on a system. In this article, we study this attack response problem and propose novel real-time recovery for securing CPS. First, this work\u2019s core component is a recovery control calculator using a Linear-Quadratic Regulator (LQR) with timing and safety constraints. This component can smoothly steer back a physical system under control to a target state set before a safe deadline and maintain the system state in the set once it is driven to it. We further propose an Alternating Direction Method of Multipliers (ADMM) based algorithm that can fast solve the LQR-based recovery problem. Second, supporting components for the attack recovery computation include a checkpointer, a state reconstructor, and a deadline estimator. To realize these components respectively, we propose (i) a sliding-window-based checkpointing protocol that governs sufficient trustworthy data, (ii) a state reconstruction approach that uses the checkpointed data to estimate the current system state, and (iii) a reachability-based approach to conservatively estimate a safe deadline. Finally, we implement our approach and demonstrate its effectiveness in dealing with totally 15 experimental scenarios which are designed based on 5 CPS simulators and 3 types of sensor attacks.<\/jats:p>","DOI":"10.1145\/3477010","type":"journal-article","created":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T18:36:51Z","timestamp":1631903811000},"page":"1-24","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":25,"title":["Real-time Attack-recovery for Cyber-physical Systems Using Linear-quadratic Regulator"],"prefix":"10.1145","volume":"20","author":[{"given":"Lin","family":"Zhang","sequence":"first","affiliation":[{"name":"Syracuse University, New York, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pengyuan","family":"Lu","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Philadelphia, Pennsylvania, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fanxin","family":"Kong","sequence":"additional","affiliation":[{"name":"Syracuse University, New York, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Chen","sequence":"additional","affiliation":[{"name":"University of Dayton, Dayton, Ohio, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oleg","family":"Sokolsky","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Philadelphia, Pennsylvania, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Insup","family":"Lee","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Philadelphia, Pennsylvania, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,9,17]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/MetroCAD51599.2021.00014"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS52030.2021.00027"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTCSA52859.2021.00015"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.5555\/1816978"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-020-00179-2"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2000.878601"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/1966913.1966959"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICDCS.Workshops.2008.40"},{"key":"e_1_2_1_10_1","volume-title":"Saurabh Bagchi, Mung Chiang, David Corman, Brian Henz, Suman Jana, Na Li, Shaoshuai Mou, et\u00a0al.","author":"Chaterji Somali","year":"2019","unstructured":"Somali Chaterji , Parinaz Naghizadeh , Muhammad Ashraful Alam , Saurabh Bagchi, Mung Chiang, David Corman, Brian Henz, Suman Jana, Na Li, Shaoshuai Mou, et\u00a0al. 2019 . Resilient cyberphysical systems and their application drivers: A technology roadmap. Arxiv Preprint arXiv:2001.00090 (2019). Somali Chaterji, Parinaz Naghizadeh, Muhammad Ashraful Alam, Saurabh Bagchi, Mung Chiang, David Corman, Brian Henz, Suman Jana, Na Li, Shaoshuai Mou, et\u00a0al. 2019. Resilient cyberphysical systems and their application drivers: A technology roadmap. Arxiv Preprint arXiv:2001.00090 (2019)."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS.2017.00035"},{"key":"e_1_2_1_12_1","volume-title":"23rd International Symposium on Research in Attacks, Intrusions and Defenses (RAID","author":"Choi Hongjun","year":"2020","unstructured":"Hongjun Choi , Sayali Kate , Yousra Aafer , Xiangyu Zhang , and Dongyan Xu . 2020 . Software-based realtime recovery from sensor attacks on robotic vehicles . In 23rd International Symposium on Research in Attacks, Intrusions and Defenses (RAID 2020). 349\u2013364. Hongjun Choi, Sayali Kate, Yousra Aafer, Xiangyu Zhang, and Dongyan Xu. 2020. Software-based realtime recovery from sensor attacks on robotic vehicles. In 23rd International Symposium on Research in Attacks, Intrusions and Defenses (RAID 2020). 349\u2013364."},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/3243734.3243752"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2014.12.139"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.5555\/1338441.1338673"},{"key":"e_1_2_1_16_1","volume-title":"European Control Conference (ECC). 3071\u20133076","author":"Domahidi A.","unstructured":"A. Domahidi , E. Chu , and S. Boyd . 2013. ECOS: an SOCP solver for embedded systems . In European Control Conference (ECC). 3071\u20133076 . A. Domahidi, E. Chu, and S. Boyd. 2013. ECOS: an SOCP solver for embedded systems. In European Control Conference (ECC). 3071\u20133076."},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/568522.568525"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2303233"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196611"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2008.930190"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8815274"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/MDAT.2017.2709310"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/3203245"},{"key":"e_1_2_1_25_1","volume-title":"Linear Robust Control","author":"Green Michael","unstructured":"Michael Green and David JN Limebeer . 2012. Linear Robust Control . Courier Corporation . Michael Green and David JN Limebeer. 2012. Linear Robust Control. Courier Corporation."},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1137\/110836936"},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS46320.2019.00020"},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.5555\/3437539.3437617"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1080\/00207170701506919"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2017.2703172"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2026285"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/2847418"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS.2018.00011"},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.5555\/578807"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/1952982.1952995"},{"key":"e_1_2_1_36_1","unstructured":"Bei Lu et\u00a0al. 2005. Linear parameter-varying control of an F-16 aircraft at high angle of attack. (2005).  Bei Lu et\u00a0al. 2005. Linear parameter-varying control of an F-16 aircraft at high angle of attack. (2005)."},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569578"},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPEC48276.2020.9042584"},{"key":"e_1_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIA.2021.3052148"},{"key":"e_1_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/2542049"},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5718158"},{"key":"e_1_2_1_42_1","volume-title":"S3a: Secure system simplex architecture for enhanced security of cyber-physical systems. Arxiv Preprint arXiv:1202.5722","author":"Mohan Sibin","year":"2012","unstructured":"Sibin Mohan , Stanley Bak , Emiliano Betti , Heechul Yun , Lui Sha , and Marco Caccamo . 2012. S3a: Secure system simplex architecture for enhanced security of cyber-physical systems. Arxiv Preprint arXiv:1202.5722 ( 2012 ). Sibin Mohan, Stanley Bak, Emiliano Betti, Heechul Yun, Lui Sha, and Marco Caccamo. 2012. S3a: Secure system simplex architecture for enhanced security of cyber-physical systems. Arxiv Preprint arXiv:1202.5722 (2012)."},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2016.2643239"},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS.2014.6843720"},{"key":"e_1_2_1_45_1","first-page":"2015","article-title":"Remote attacks on automated vehicles sensors: Experiments on camera and lidar","volume":"11","author":"Petit Jonathan","year":"2015","unstructured":"Jonathan Petit , Bas Stottelaar , Michael Feiri , and Frank Kargl . 2015 . Remote attacks on automated vehicles sensors: Experiments on camera and lidar . Black Hat Europe 11 (2015), 2015 . Jonathan Petit, Bas Stottelaar, Michael Feiri, and Frank Kargl. 2015. Remote attacks on automated vehicles sensors: Experiments on camera and lidar. Black Hat Europe 11 (2015), 2015.","journal-title":"Black Hat Europe"},{"key":"e_1_2_1_46_1","volume-title":"29th USENIX Security Symposium (USENIX Security 20)","author":"Quinonez Raul","year":"2020","unstructured":"Raul Quinonez , Jairo Giraldo , Luis Salazar , Erick Bauman , Alvaro Cardenas , and Zhiqiang Lin . 2020 . SAVIOR: Securing autonomous vehicles with robust physical invariants . In 29th USENIX Security Symposium (USENIX Security 20) . Raul Quinonez, Jairo Giraldo, Luis Salazar, Erick Bauman, Alvaro Cardenas, and Zhiqiang Lin. 2020. SAVIOR: Securing autonomous vehicles with robust physical invariants. In 29th USENIX Security Symposium (USENIX Security 20)."},{"key":"e_1_2_1_47_1","volume-title":"spoofers use fake GPS signals to knock a yacht off course. MIT Technology Review. Online","author":"Rutkin Aviva Hope","year":"2020","unstructured":"Aviva Hope Rutkin . 2013. spoofers use fake GPS signals to knock a yacht off course. MIT Technology Review. Online ; accessed May 2020 . Aviva Hope Rutkin. 2013. spoofers use fake GPS signals to knock a yacht off course. MIT Technology Review. Online; accessed May 2020."},{"key":"e_1_2_1_48_1","unstructured":"Francesco Sabatino. 2015. Quadrotor control: modeling nonlinear control design and simulation.  Francesco Sabatino. 2015. Quadrotor control: modeling nonlinear control design and simulation."},{"key":"e_1_2_1_49_1","volume-title":"Quadrotor control: modeling, nonlinear control design, and simulation. Master\u2019s thesis","author":"Sabatino F.","unstructured":"F. Sabatino . 2015. Quadrotor control: modeling, nonlinear control design, and simulation. Master\u2019s thesis . KTH Royal Institute of Technology . F. Sabatino. 2015. Quadrotor control: modeling, nonlinear control design, and simulation. Master\u2019s thesis. KTH Royal Institute of Technology."},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1470225"},{"key":"e_1_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40349-1_4"},{"key":"e_1_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0952-1976(01)00023-9"},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1145\/2976749.2978388"},{"key":"e_1_2_1_54_1","volume-title":"27th IEEE Real-time and Embedded Technology and Applications Symposium (RTAS), Brief Industry Paper Track. IEEE.","author":"Wang Ruixuan","year":"2021","unstructured":"Ruixuan Wang , Fanxin Kong , Hasshi Sudler , and Xun Jiao . 2021 . HDAD: Hyperdimensional computing-based anomaly detection for automotive sensor attacks . In 27th IEEE Real-time and Embedded Technology and Applications Symposium (RTAS), Brief Industry Paper Track. IEEE. Ruixuan Wang, Fanxin Kong, Hasshi Sudler, and Xun Jiao. 2021. HDAD: Hyperdimensional computing-based anomaly detection for automotive sensor attacks. In 27th IEEE Real-time and Embedded Technology and Applications Symposium (RTAS), Brief Industry Paper Track. IEEE."},{"key":"e_1_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/2502524.2502531"},{"key":"e_1_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.5555\/897831"},{"key":"e_1_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2017.2781198"},{"key":"e_1_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1109\/SP40000.2020.00026"},{"key":"e_1_2_1_59_1","volume-title":"41st IEEE Real-time Systems Symposium (RTSS). IEEE.","author":"Zhang Lin","unstructured":"Lin Zhang , Xin Chen , Fanxin Kong , and Alvaro A. Cardenas . 2020. Real-time recovery for cyber-physical systems using linear approximations . In 41st IEEE Real-time Systems Symposium (RTSS). IEEE. Lin Zhang, Xin Chen, Fanxin Kong, and Alvaro A. Cardenas. 2020. Real-time recovery for cyber-physical systems using linear approximations. In 41st IEEE Real-time Systems Symposium (RTSS). IEEE."},{"key":"e_1_2_1_60_1","volume-title":"Essentials of Robust Control","author":"Zhou Kemin","unstructured":"Kemin Zhou and John Comstock Doyle . 1998. Essentials of Robust Control . Vol. 104 . Prentice hall Upper Saddle River, NJ. Kemin Zhou and John Comstock Doyle. 1998. Essentials of Robust Control. Vol. 104. Prentice hall Upper Saddle River, NJ."}],"container-title":["ACM Transactions on Embedded Computing Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3477010","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3477010","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3477010","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T19:30:46Z","timestamp":1750188646000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3477010"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,17]]},"references-count":59,"journal-issue":{"issue":"5s","published-print":{"date-parts":[[2021,10,31]]}},"alternative-id":["10.1145\/3477010"],"URL":"https:\/\/doi.org\/10.1145\/3477010","relation":{},"ISSN":["1539-9087","1558-3465"],"issn-type":[{"value":"1539-9087","type":"print"},{"value":"1558-3465","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,17]]},"assertion":[{"value":"2021-04-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-07-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-09-17","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}