2019 Volume 10 Issue 2 Pages 140-156
The need for safe and secure networked motion control systems have been growing with the increase in the number of cyberattacks against critical infrastructure. This paper proposes three methods of tamper detection: the maximum delay (MaxD), minimum delay (MinD), and data thresholding (DT) methods, for a networked motion control system. The system has redundant forward network paths from a controller to an actuator and a path selector on the actuator side. The selector chooses an appropriate path without tampering. Error compensation schemes in the path change are also proposed. In the experiments using the three redundant forward paths, the proposed tamper detection methods are compared. Experimental results show that the proposed methods can achieve stable operation of the system even if one of the paths is exposed to data tampering attacks, while each method has advantages and drawbacks.
