Attack estimation and state reconstruction for cyber-physical systems with state delay via reduced-order observer

This paper investigates the attack estimation and state reconstruction problem for linear cyber-physical systems with state delay and simultaneous sensor and actuator attacks. Reduced -order observer is designed for the augmented system to simultaneously estimate the actuator attack, sensor attack and the state of system. By adopting the double integral term into the Lyapunov-Krasovskii functional and decomposing the cross term, the delay -dependent results are obtained. The method proposed in this paper can accurately estimate the state, actuator and sensor attacks simultaneously without additional design. Compared with the previous method, the time delay information is fully utilized and the conservation is greatly reduced. Finally, the correctness of the results is verified by simulation.