I. Introduction
Industrial Cyber-Physical Systems (ICPSs) are highly complex systems with comprehensive computing, cyberspace, and physical process [1]. Through computation, communication, and control (3C), the original isolated industrial manufacturing systems can be upgraded by powerful engineering techniques and tools such as pattern recognition [2], optimization [3], prediction control [4], machine learning [5], etc. However, to make production more efficient, these powerful techniques usually collect data from physical processes to train their high-level model. Therefore, the originally isolated plants are needed to connect to the external network, and due to the limited resources (energy, expenditure, and bandwidth) and remote unattended operation, these nearly semi-open systems are easily suffering widely cyber-attacks [6], [7], such as the “Sapphire Worm” virus in the United States in 2003 [8], the “Stuxnet” virus in Iran in 2010 [9] and the world-shaking blackout in Ukraine in 2015 [10].