Description
Book SynopsisTable of ContentsPreface v
List of Acronyms and Abbreviations ix
Introduction 1
Challenges of Traditional Physical and Cyber Systems 1
Research Trends in Cyber-Physical Systems (CPSs) 3
Stability of CPSs 3
Reliability of CPSs 6
Opportunities for CPS Applications 7
Managing Reliability and Feasibility of CPSs 7
Ensuring Cybersecurity of CPSs 9
Fundamentals of CPSs 13
Models for Exploring CPSs 14
Control-Block-Diagram of CPSs 14
Control Signal in CPSs 14
Degraded Actuator and Sensor 14
Time-Varying Model of CPSs 15
Implementation in TrueTime Simulator 16
Introduction of TrueTime Simulator 16
Architecture of CPSs in TrueTime 17
Evaluation and Verification of CPSs 18
CPS Performance Evaluation 18
CPS Performance Index 18
Reliability Evaluation of CPSs 19
CPS Model Verification 20
CPS Performance Improvement 21
PSO-Based Reliability Enhancement 22
Optimal PID-Automatic Generation Control (AGC) 23
Stability Enhancement of CPSs 29
Integration of Physical and Cyber Models 30
Basics of Wide-Area Power Systems (WAPS) 30
Physical Layer 30
Cyber Layer 31
WAPS Realized in TrueTime 32
An Illustrative WAPS 33
Illustrative Physical Layer 33
Illustrative Cyber Layer 34
Illustrative Integrated System 36
Settings of Stability Analysis 36
Settings of Delay Predictions 37
Settings of Illustrative WAPS 37
Cases for Illustrative WAPS 38
Hidden Markov Model (HMM)-Based Stability Improvement 38
Online Smith Predictor 38
Initialization of Discrete HMM (DHMM) 39
Parameter Estimation of DHMM 41
Delay Prediction via DHMM 43
Smith Predictor Structure 44
Delay Predictions 44
Settings of DHMM 45
Prediction Comparison 46
Performance of Smith Predictor 47
Settings of Smith Predictor 47
Analysis of Case 1 47
Analysis of Case 2 48
Stability Enhancement of Illustrative WAPS 49
Eigenvalue Analysis and Delay Impact 49
Sensitivity Analysis of Network Parameters 49
Optimal AGC 50
Optimal Controller Performance 50
Scenario 1 Analysis 51
Scenario 2 Analysis 51
Scenario 3 Analysis 52
Scenario 4 Analysis 52
Robustness of Optimal AGC 52
Reliability Analysis of CPSs 65
Conceptual Distributed Generation Systems (DGSs) 65
Mathematical Model of Degraded Network 65
Model of Transmission Delay 66
Model of Packet Dropout 67
Scenarios of Degraded Network 68
Modeling and Simulation of DGSs 69
DGS Model 69
Preliminary Model 69
Power Source Model 70
Data Interpolation 71
Reliability Estimation Via Optimal Power Flow (OPF) 71
Data Prediction 71
Monte Carlo Simulation (MCS) of DGSs 73
OPF of DGSs 74
Actual Cost and Reliability Analysis 75
OPF of DGSs Against Unreliable Network 76
Settings of Networked DGSs 76
OPF Under Different Demand Levels 78
OPF Under Entire Period 79
Maintenance of Aging CPSs 87
Data-driven Degradation Model for CPSs 88
Degraded Control System 88
Parameter Estimation via EM Algorithm 89
Load Frequency Control (LFC) Performance Criteria 90
Maintenance Model and Cost Model 91
Performance Based Maintenance (PBM) Model 91
Cost Model 93
Applications to DGSs 94
Output of Aging Generators 94
Impact of Aging on DGSs 94
Settings of Aging DGSs 94
Validations of Generator Performance Indexes 95
Quantitative Aging Impact 96
Applications to Gas Turbine Plant 98
Settings of Networked DGS Sensitivity Analysis of PBM 98
Impact of Degradation on LFC 98
Numerical Sensitivity Analysis 98
Pictorial Sensitivity Analysis 99
Optimal Maintenance Strategy 100
Maintenance Models Comparison 100
Game Theory Based CPS Protection Plan 109
Vulnerability Model for CPSs 110
Multi-state Attack-Defence Game 111
Backgrounds of Game Model for CPSs 111
Mathematical Game Model 112
Attack Consequence and Optimal Defence 113
Damage Cost Model 113
Attack Uncertainty 114
Optimal Defence Plan 115
Applications to DGSs with Uncertain Cyber-Attacks 116
Settings of Game Model 116
Optimal Protection with Constant Resource Allocation 116
Impact Under Constant Case 116
Optimal Constant Resource Allocation Fraction 117
Optimal Protection with Dynamic Resource Allocation 118
Vulnerability Model Under Dynamic Case 119
Optimal Dynamic Resource Allocation Fraction 120
Optimization Results Justification 121
Bayesian Based Cyberteam Deployment 125
Poisson Distribution based Cyber-attacks 125
Impacts of DoS Attack 125
Poisson Arrival Model Verification 126
Average Arrival Attacks 127
Cost of Multi-node Bandit Model 128
Regret Function of Worst Case 128
Upper Bound on Cost 129
Thompson-Hedge Algorithm 130
Hedge Algorithm 130
Details of Thompson-Hedge Algorithm 131
Separation of Target Regret 132
Upper Bound of Λ_1 133
Upper Bound of Λ_2 133
Upper Bound of Regret R^TH 134
Applications to Smart Grids 135
Operation Cost of Smart Grid 135
Numerical Analysis of Cost Sequences 137
Performance of Thompson-Hedge Algorithm 137
Comparison Study Against R.EXP3 137
Sensitivity to the Variation 140
Recent Advances in CPS Modeling, Stability and Reliability 145
Modeling Techniques for CPS Components 145
Inverse Gaussian Process 145
Hitting Time to a Curved Boundary 146
Estimator Error 147
Theoretical Stability Analysis 148
Impacts of Uncertainties 148
Small Gain Theorem based Stability Criteria 149
Robust Stability Criteria 150
Game Model for CPSs 151
References 153
Index 177
