Resilient set-based state estimation for linear time-invariant systems using zonotopes

This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks. Provided that the LTI system is stable and observable via every single sensor and that at least one sensor is uncompromised, we guarantee that the true state is always contained in the estimated set. We use zonotopes to represent these sets for computational efficiency. However, we show that intelligently designed stealthy attacks may cause exponential growth in the algorithm's worst-case complexity. We present several strategies to handle this complexity issue and illustrate our resilient zonotope-based state estimation algorithm on a rotating target system.(c) 2023 The Author(s). Published by Elsevier Ltd on behalf of European Control Association. This is an open access article under the CC BY license ( http://creativecommons.org/licenses/by/4.0/ )