Robust Cyber–Physical Systems: Concept, models, and implementation

In this paper we comprehensively survey the concept and strategies for building a resilient and integrated cyber–physical system (CPS). Here resilience refers to a 3S-oriented design, that is, stability, security, and systematicness: Stability means the CPS can achieve a stable sensing-actuation close-loop control even though the inputs (sensing data) have noise or attacks; Security means that the system can overcome the cyber–physical interaction attacks; and Systematicness means that the system has a seamless integration of sensors and actuators. We will also explain the CPS modeling issues since they serve as the basics of 3S design. We will use two detailed examples from our achieved projects to explain how to achieve arobust, systematic CPS design: Case study 1 is on the design of a rehabilitation system with cyber (sensors) and physical (robots) integration. Case Study 2 is on the implantable medical device design. It illustrates the nature of CPS security principle. The dominant feature of this survey is that it has both principle discussions and practical cyber–physical coupling design.