Feedback Path Delay Attacks and Detection

The paper discusses delay injection attacks on regulator loops and suggests joint recursive prediction error identification of delay and dynamics for supervision and attack detection. The control system is assumed to be operated either in open- or closed-loop mode. It is shown why delay insertion in the feedback path before the user switches to closedloop operation is advantageous to disguise the attack. The detection performance is evaluated numerically for a linearized automotive cruise control feedback loop.