A Novel Technique for Detection of Time Delay Switch Attack on Load Frequency Control
Author(s)
Arman Sargolzaei1,
Kang K. Yen1,
Mohamed N. Abdelghani2,
Abolfazl Mehbodniya3,
Saman Sargolzaei4
Affiliation(s)
1 Department of Electrical and Computer Engineering, Florida International University, Miami, FL, USA. 2 Department of Mathematics and Statistics, University of Alberta, Edmonton, Canada. 3 Graduate School of Engineering-Sendai, Tohoku University, Sendai, Japan. 4 Department of Electrical and Computer Engineering, Wentworth Institute of Technology, Boston, MA, USA.
1 Department of Electrical and Computer Engineering, Florida International University, Miami, FL, USA. 2 Department of Mathematics and Statistics, University of Alberta, Edmonton, Canada. 3 Graduate School of Engineering-Sendai, Tohoku University, Sendai, Japan. 4 Department of Electrical and Computer Engineering, Wentworth Institute of Technology, Boston, MA, USA.
ABSTRACT
In this paper, we focus on the estimation of time delays caused by adversaries in the sensing loop (SL). Based on the literature review, time delay switch (TDS) attacks could make any control system, in particular a power control system, unstable. Therefore, future smart grids will have to use advanced methods to provide better situational awareness of power grid states keeping smart grids reliable and safe from TDS attacks. Here, we introduce a simple method for preventing time delay switch attack on networked control systems. The method relies on an estimator that will estimate and track time delays introduced by an adversary. Knowing the maximum tolerable time delay of the plant’s optimal controller for which the plant remains stable, a time-delay detector issues an alarm signal when the estimated time delay is larger than the minimum one and directs the system to alarm state. In an alarm state, the plant operates under the control of an emergency controller that is local to the plant and remains in this mode until the networked control system state is restored. This method is an inexpensive and simple way to guarantee that an industrial control system remains stable and secure.
In this paper, we focus on the estimation of time delays caused by adversaries in the sensing loop (SL). Based on the literature review, time delay switch (TDS) attacks could make any control system, in particular a power control system, unstable. Therefore, future smart grids will have to use advanced methods to provide better situational awareness of power grid states keeping smart grids reliable and safe from TDS attacks. Here, we introduce a simple method for preventing time delay switch attack on networked control systems. The method relies on an estimator that will estimate and track time delays introduced by an adversary. Knowing the maximum tolerable time delay of the plant’s optimal controller for which the plant remains stable, a time-delay detector issues an alarm signal when the estimated time delay is larger than the minimum one and directs the system to alarm state. In an alarm state, the plant operates under the control of an emergency controller that is local to the plant and remains in this mode until the networked control system state is restored. This method is an inexpensive and simple way to guarantee that an industrial control system remains stable and secure.
KEYWORDS
Time Delay Switch Attack, Load Frequency Control, Detection and Estimation, Emergency Controller
Time Delay Switch Attack, Load Frequency Control, Detection and Estimation, Emergency Controller
Cite this paper
Sargolzaei, A. , Yen, K. , Abdelghani, M. , Mehbodniya, A. and Sargolzaei, S. (2015) A Novel Technique for Detection of Time Delay Switch Attack on Load Frequency Control. Intelligent Control and Automation, 6, 205-214. doi: 10.4236/ica.2015.64020.
Sargolzaei, A. , Yen, K. , Abdelghani, M. , Mehbodniya, A. and Sargolzaei, S. (2015) A Novel Technique for Detection of Time Delay Switch Attack on Load Frequency Control. Intelligent Control and Automation, 6, 205-214. doi: 10.4236/ica.2015.64020.
References
[1] Ericsson, G.N. (2010) Cyber Security and Power System Communication—Essential Parts of a Smart Grid Infrastructure. IEEE Transactions on Power Delivery, 25, 1501-1507. http://dx.doi.org/10.1109/TPWRD.2010.2046654 [2] Zhang, C.-K., Jiang, L., Wu, Q.H., He, Y. and Wu, M. (2013) Delay-Dependent Robust Load Frequency Control for Time Delay Power Systems. IEEE Transactions on Power Systems, 28, 2192-2201. [3] Yuan Y.L., Li Z.Y. and Ren, K. (2011) Modeling Load Redistribution Attacks in Power Systems. IEEE Transactions on Smart Grid, 2, 382-390. [4] Sargolzaei, A., Yen, K. and Abdelghani, M.N. (2014) Time-Delay Switch Attack on Load Frequency Control in Smart Grid. Journal of Advanced Communication Technologies, 5, 55-64. [5] Sargolzaei, A., Yen, K. and Abdelghani, M.N. (2014) Delayed Inputs Attack on Load Frequency Control in Smart Grid. Innovative Smart Grid Technologies Conference (ISGT), 2014 IEEE PES, Washington DC, 19-22 February 2014, 1-5. http://dx.doi.org/10.1109/isgt.2014.6816508 [6] Sargolzaei, A., Yen, K.K. and Abdelghani, M.N. (2014) Control of Nonlinear Heartbeat Models under Time-Delay-Switched Feedback Using Emotional Learning Control. International Journal on Recent Trends in Engineering & Technology, 10, 2. [7] Amini, M.H., Sarwat, A.I., Iyengar, S.S. and Guvenc, I. (2014) Determination of the Minimum-Variance Unbiased Estimator for DC Power-Flow Estimation. 40th IEEE Industrial Electronics Conference (IECON 2014), Dallas, 29 October-1 November 2014, 114-118. http://dx.doi.org/10.1109/IECON.2014.7048486 [8] Amini, M.H., Nabi, B. and Haghifam, M.-R. (2013) Load Management Using Multi-Agent Systems in Smart Distribution Network. IEEE PES General Meeting 2013, Vancouver, 21-25 July 2013, 1-5. http://dx.doi.org/10.1109/pesmg.2013.6672180 [9] Kamyab, F., Amini, M. H., Sheykhha, S., Hasanpour, M. and Jalali, M.M. (2015) Demand Response Program in Smart Grid Using Supply Function Bidding Mechanism. IEEE Transactions on Smart Grid, 25 May 2015, 1949-3053. http://dx.doi.org/10.1109/TSG.2015.2430364 [10] Li, Y., Tong, S.C. and Li, Y.M. (2012) Observer-Based Adaptive Fuzzy Backstepping Control for Strict-Feedback Stochastic Nonlinear Systems with Time Delays. International Journal of Innovative Computing, Information and Control, 8, 8103-8114. [11] Benzaouia, A., Ouladsine, M., Naamane, A. and Ananou, B. (2012) Fault Detection for Uncertain Delayed Switching Discrete-Time Systems. International Journal of Innovative Computing, Information and Control, 8, 8049-8062. [12] Sargolzaei, A., Yen, K., Noei, S. and Ramezanpour, H. (2013) Assessment of He’s Homotopy Perturbation Method for Optimal Control of Linear Time-Delay Systems. Applied Mathematical Sciences, 7, 349-361. [13] Benéitez-Péerez, H., Benéitez-Péerez, A. and Ortega-Arjona, J. (2012) Networked Control Systems Design Considering Scheduling Restrictions and Local Faults. International Journal of Innovative Computing, Information and Control, 8, 8515-8526. [14] Dotta, D., Silva, A.S. and Decker, I.C. (2009) Wide-Area Measurements-Based Two-Level Control Design Considering Signal Transmission Delay. IEEE Transactions on Power Systems, 24, 208-216. http://dx.doi.org/10.1109/TPWRS.2008.2004733 [15] Kamwa, I., Grondin, R. and Hebert, Y. (2001) Wide-Area Measurement Based Stabilizing Control of Large Power Systems—A Decentralized/Hierarchical Approach. IEEE Transactions on Power Systems, 16, 136-153. http://dx.doi.org/10.1109/59.910791 [16] Wu, H.X., Tsakalis, K.S. and Heydt, G.T. (2004) Evaluation of Time Delay Effects to Wide-Area Power System Stabilizer Design. IEEE Transactions on Power Systems, 19, 1935-1941. http://dx.doi.org/10.1109/TPWRS.2004.836272 [17] Jiang, Q., Zou, Z. and Cao, Y. (2005) Wide-Area TCSC Controller Design in Consideration of Feedback Signals’ Time Delays. IEEE Power Engineering Society General Meeting, 2, 1676-1680. [18] Saad, M.S., Hassouneh, M.A., Abed, E.H. and Edris, A.A. (2005) Delaying Instability and Voltage Collapse in Power Systems Using SVCs with Washout filter-Aided Feedback. American Control Conference, 6, 4357-4362. http://dx.doi.org/10.1109/acc.2005.1470665 [19] Chaudhuri, B., Majumder, R. and Pal, B. (2005) Wide-Area Measurement Based Stabilizing Control of Power System Considering Signal Transmission Delay. IEEE Power Engineering Society General Meeting, 2, 1447-1450. http://dx.doi.org/10.1109/pes.2005.1489106 [20] Milano, F. and Anghel, M. (2012) Impact of Time Delays on Power System Stability. IEEE Transactions on Circuits and Systems I: Regular Papers, 59, 889-900. http://dx.doi.org/10.1109/TCSI.2011.2169744 [21] Ray, S. and Venayagamoorthy, G.K. (2008) Real-Time Implementation of a Measurement-Based Adaptive Wide-Area Control System Considering Communication Delays. IET Generation, Transmission & Distribution, 2, 62-70. http://dx.doi.org/10.1049/iet-gtd:20070027 [22] Alrifai, M.T., Zribi, M., Rayan, M. and Mahmoud, M.S. (2013) On the Control of Time Delay Power Systems. International Journal of Innovative Computing, Information and Control, 9, 769-792. [23] Yang, Q.Y., An, D. and Yu, W. (2013) On Time Desynchronization Attack against IEEE 1588 Protocol in Power Grid Systems. 2013 IEEE Energytech, Cleveland, 21-23 May 2013, 1-5. [24] Schenato, L. (2008) Optimal Estimation in Networked Control Systems Subject to Random Delay and Packet Drop. IEEE Transactions on Automatic Control, 53, 1311-1317. http://dx.doi.org/10.1109/TAC.2008.921012 [25] Mahmoud, M.S. (2000) Robust Control and Filtering for Time-Delay Systems. Marcel Dekker Inc., New York. [26] Tan, Y.H. (2004) Time-Varying Time-Delay Estimation for Nonlinear Systems Using Neural Networks. International Journal of Applied Mathematics and Computer Science, 14, 63-68. [27] Li, C.M. and Xiao, J. (2006) Adaptive Delay Estimation and Control of Networked Control Systems. International Symposium on Communications and Information Technologies, 2006, ISCIT’06, Bangkok, 18-20 October 2006, 707-710. http://dx.doi.org/10.1109/iscit.2006.339832
[1] Ericsson, G.N. (2010) Cyber Security and Power System Communication—Essential Parts of a Smart Grid Infrastructure. IEEE Transactions on Power Delivery, 25, 1501-1507. http://dx.doi.org/10.1109/TPWRD.2010.2046654 [2] Zhang, C.-K., Jiang, L., Wu, Q.H., He, Y. and Wu, M. (2013) Delay-Dependent Robust Load Frequency Control for Time Delay Power Systems. IEEE Transactions on Power Systems, 28, 2192-2201. [3] Yuan Y.L., Li Z.Y. and Ren, K. (2011) Modeling Load Redistribution Attacks in Power Systems. IEEE Transactions on Smart Grid, 2, 382-390. [4] Sargolzaei, A., Yen, K. and Abdelghani, M.N. (2014) Time-Delay Switch Attack on Load Frequency Control in Smart Grid. Journal of Advanced Communication Technologies, 5, 55-64. [5] Sargolzaei, A., Yen, K. and Abdelghani, M.N. (2014) Delayed Inputs Attack on Load Frequency Control in Smart Grid. Innovative Smart Grid Technologies Conference (ISGT), 2014 IEEE PES, Washington DC, 19-22 February 2014, 1-5. http://dx.doi.org/10.1109/isgt.2014.6816508 [6] Sargolzaei, A., Yen, K.K. and Abdelghani, M.N. (2014) Control of Nonlinear Heartbeat Models under Time-Delay-Switched Feedback Using Emotional Learning Control. International Journal on Recent Trends in Engineering & Technology, 10, 2. [7] Amini, M.H., Sarwat, A.I., Iyengar, S.S. and Guvenc, I. (2014) Determination of the Minimum-Variance Unbiased Estimator for DC Power-Flow Estimation. 40th IEEE Industrial Electronics Conference (IECON 2014), Dallas, 29 October-1 November 2014, 114-118. http://dx.doi.org/10.1109/IECON.2014.7048486 [8] Amini, M.H., Nabi, B. and Haghifam, M.-R. (2013) Load Management Using Multi-Agent Systems in Smart Distribution Network. IEEE PES General Meeting 2013, Vancouver, 21-25 July 2013, 1-5. http://dx.doi.org/10.1109/pesmg.2013.6672180 [9] Kamyab, F., Amini, M. H., Sheykhha, S., Hasanpour, M. and Jalali, M.M. (2015) Demand Response Program in Smart Grid Using Supply Function Bidding Mechanism. IEEE Transactions on Smart Grid, 25 May 2015, 1949-3053. http://dx.doi.org/10.1109/TSG.2015.2430364 [10] Li, Y., Tong, S.C. and Li, Y.M. (2012) Observer-Based Adaptive Fuzzy Backstepping Control for Strict-Feedback Stochastic Nonlinear Systems with Time Delays. International Journal of Innovative Computing, Information and Control, 8, 8103-8114. [11] Benzaouia, A., Ouladsine, M., Naamane, A. and Ananou, B. (2012) Fault Detection for Uncertain Delayed Switching Discrete-Time Systems. International Journal of Innovative Computing, Information and Control, 8, 8049-8062. [12] Sargolzaei, A., Yen, K., Noei, S. and Ramezanpour, H. (2013) Assessment of He’s Homotopy Perturbation Method for Optimal Control of Linear Time-Delay Systems. Applied Mathematical Sciences, 7, 349-361. [13] Benéitez-Péerez, H., Benéitez-Péerez, A. and Ortega-Arjona, J. (2012) Networked Control Systems Design Considering Scheduling Restrictions and Local Faults. International Journal of Innovative Computing, Information and Control, 8, 8515-8526. [14] Dotta, D., Silva, A.S. and Decker, I.C. (2009) Wide-Area Measurements-Based Two-Level Control Design Considering Signal Transmission Delay. IEEE Transactions on Power Systems, 24, 208-216. http://dx.doi.org/10.1109/TPWRS.2008.2004733 [15] Kamwa, I., Grondin, R. and Hebert, Y. (2001) Wide-Area Measurement Based Stabilizing Control of Large Power Systems—A Decentralized/Hierarchical Approach. IEEE Transactions on Power Systems, 16, 136-153. http://dx.doi.org/10.1109/59.910791 [16] Wu, H.X., Tsakalis, K.S. and Heydt, G.T. (2004) Evaluation of Time Delay Effects to Wide-Area Power System Stabilizer Design. IEEE Transactions on Power Systems, 19, 1935-1941. http://dx.doi.org/10.1109/TPWRS.2004.836272 [17] Jiang, Q., Zou, Z. and Cao, Y. (2005) Wide-Area TCSC Controller Design in Consideration of Feedback Signals’ Time Delays. IEEE Power Engineering Society General Meeting, 2, 1676-1680. [18] Saad, M.S., Hassouneh, M.A., Abed, E.H. and Edris, A.A. (2005) Delaying Instability and Voltage Collapse in Power Systems Using SVCs with Washout filter-Aided Feedback. American Control Conference, 6, 4357-4362. http://dx.doi.org/10.1109/acc.2005.1470665 [19] Chaudhuri, B., Majumder, R. and Pal, B. (2005) Wide-Area Measurement Based Stabilizing Control of Power System Considering Signal Transmission Delay. IEEE Power Engineering Society General Meeting, 2, 1447-1450. http://dx.doi.org/10.1109/pes.2005.1489106 [20] Milano, F. and Anghel, M. (2012) Impact of Time Delays on Power System Stability. IEEE Transactions on Circuits and Systems I: Regular Papers, 59, 889-900. http://dx.doi.org/10.1109/TCSI.2011.2169744 [21] Ray, S. and Venayagamoorthy, G.K. (2008) Real-Time Implementation of a Measurement-Based Adaptive Wide-Area Control System Considering Communication Delays. IET Generation, Transmission & Distribution, 2, 62-70. http://dx.doi.org/10.1049/iet-gtd:20070027 [22] Alrifai, M.T., Zribi, M., Rayan, M. and Mahmoud, M.S. (2013) On the Control of Time Delay Power Systems. International Journal of Innovative Computing, Information and Control, 9, 769-792. [23] Yang, Q.Y., An, D. and Yu, W. (2013) On Time Desynchronization Attack against IEEE 1588 Protocol in Power Grid Systems. 2013 IEEE Energytech, Cleveland, 21-23 May 2013, 1-5. [24] Schenato, L. (2008) Optimal Estimation in Networked Control Systems Subject to Random Delay and Packet Drop. IEEE Transactions on Automatic Control, 53, 1311-1317. http://dx.doi.org/10.1109/TAC.2008.921012 [25] Mahmoud, M.S. (2000) Robust Control and Filtering for Time-Delay Systems. Marcel Dekker Inc., New York. [26] Tan, Y.H. (2004) Time-Varying Time-Delay Estimation for Nonlinear Systems Using Neural Networks. International Journal of Applied Mathematics and Computer Science, 14, 63-68. [27] Li, C.M. and Xiao, J. (2006) Adaptive Delay Estimation and Control of Networked Control Systems. International Symposium on Communications and Information Technologies, 2006, ISCIT’06, Bangkok, 18-20 October 2006, 707-710. http://dx.doi.org/10.1109/iscit.2006.339832