When adversary encounters uncertain cyber-physical systems: Robust zero-dynamics attack with disclosure resources

In this paper we address the problem of designing a robust stealthy attack for adversaries to compromise an uncertain cyber-physical system without being detected. We first re-interpret the zero-dynamics attack based on the normal form representation. Then, a new alternative zero dynamics attack is presented for uncertain systems. This alternative employs a disturbance observer and does not require exact system knowledge in order to remain stealthy. The proposed robust zero-dynamics attack needs a nominal model of the system and, in addition, utilizes the input and output signals of the system. The proposed attack illustrates how the adversary is able to use disclosure resources instead of exact model knowledge. A simulation result with a hydro-turbine power system is presented to verify the attack performance.