TY - GEN
T1 - A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security
AU - Jafarnejadsani, Hamidreza
AU - Lee, Hanmin
AU - Hovakimyan, Naira
AU - Voulgaris, Petros
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - This paper proposes a multirate output-feedback controller for multi-input multi-output (MIMO) systems, possibly with non-minimum-phase zeros, using the mathcal L- 1 adaptive control structure. The analysis of stability and robustness of the sampled-data controller reveals that under certain conditions the performance of a continuous-time reference system is uniformly recovered as the sampling time goes to zero. The controller is designed for detection and mitigation of actuator attacks. By considering a multirate formulation, stealthy zero-dynamics attacks become detectable. The experimental results from the flight test of a small quadtotor are provided. The tests show that the multirate mathcal L- 1 controller can effectively detect the zero-dynamics actuator attack and recover stability of the quadrotor.
AB - This paper proposes a multirate output-feedback controller for multi-input multi-output (MIMO) systems, possibly with non-minimum-phase zeros, using the mathcal L- 1 adaptive control structure. The analysis of stability and robustness of the sampled-data controller reveals that under certain conditions the performance of a continuous-time reference system is uniformly recovered as the sampling time goes to zero. The controller is designed for detection and mitigation of actuator attacks. By considering a multirate formulation, stealthy zero-dynamics attacks become detectable. The experimental results from the flight test of a small quadtotor are provided. The tests show that the multirate mathcal L- 1 controller can effectively detect the zero-dynamics actuator attack and recover stability of the quadrotor.
UR - http://www.scopus.com/inward/record.url?scp=85062182936&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2018.8619570
DO - 10.1109/CDC.2018.8619570
M3 - Conference contribution
AN - SCOPUS:85062182936
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6620
EP - 6625
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -