A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security

Hamidreza Jafarnejadsani, Hanmin Lee, Naira Hovakimyan, Petros Voulgaris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6620-6625
Number of pages6
ISBN (Electronic)9781538613955
DOIs
StatePublished - Jan 18 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period12/17/1812/19/18

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Jafarnejadsani, H., Lee, H., Hovakimyan, N., & Voulgaris, P. (2019). A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 6620-6625). [8619570] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8619570