CPSim: Simulation Toolbox for Security Problems in Cyber-Physical Systems

There are various applications of Cyber-Physical systems (CPSs) that are life-critical where failure or malfunction can result in significant harm to human life, the environment, or substantial economic loss. Therefore, it is important to ensure their reliability, security, and robustness to the attacks. However, there is no widely used toolbox to simulate CPS and target security problems, especially the simulation of sensor attacks and defense strategies against them. In this work, we introduce our toolbox CPSim, a user-friendly simulation toolbox for security problems in CPS. CPSim aims to simulate common sensor attacks and countermeasures to these sensor attacks. We have implemented bias attacks, delay attacks, and replay attacks. Additionally, we have implemented various recovery-based methods against sensor attacks. The sensor attacks and recovery methods configurations can be customized with the given APIs. CPSim has built-in numerical simulators and various implemented benchmarks. Moreover, CPSim is compatible with other external simulators and can be deployed on a real testbed for control purposes.