Kalman Filter of Network Switching Systems Under Cyber Attacks

For the networked linear switching system, a minimal conservative Kalman filter design method is proposed in the network transmission environment with multiple packet losses of both measurement and switching signal packets. Both the measurement signal and the switching signal transmitted in the same packet may be lost through the network. The random multiple packet dropout phenomenon is assumed to be subject to the Bernoulli random binary distribution. A novel Kalman filter is designed to estimate the state values by minimizing the filtering error covariance. Then, the desired Kalman gain matrices are derived, which is a novel switched Kalman gain matrix containing a random change of switching rate. In addition, the stability of the Kalman filter is analyzed in this paper. Finally, simulation results show the effectiveness of the proposed filter.