1 Introduction
By INTEGRATING information and communication technologies, smart grids could potentially enhance the efficiency and reliability of future power systems [1]. Such a capability grants smart grids an important role in addressing the global challenge that the demand for energy is growing faster than its supply [2]. On the other hand, the smart grid is a complex system involving many components for the generation, transmission, and distribution of energy to the end users. In particular, substations, which are responsible for protecting, monitoring and controlling the power system, represent one of the most critical components in a smart grid. This has been demonstrated in a study by the Federal Energy Regulatory Commission (FERC) which shows a coordinated attack on just nine substations (out of 55,000) can bring down the entire United States (US) power grid [3]. Also, in the real-world attack on the Ukrainian power grid, which resulted in a blackout affecting 225,000 customers and lasted for several hours [4], substations were also among the main targets.