Robust Anti-windup H∞ Control of a Cyber Physical Tracking System Subject to Replay Attacks

This paper investigates a robust anti-windup control of a cyber physical tracking system subject to random attack-induced delays described by Markov chains. The openness of communication network makes cyber physical systems (CPSs) vulnerable to a network attack. The random attack signals occupy the transmission resources of legitimate signals. In order to actively compensate for the communication delay caused by the presence of attack signals, a CPS closed-loop tracking system is described as a discrete-time Markovian jump system. A nominal robust tracking controller considering $H_{\infty}$ performance is designed to ensure the stability and tracking performance of the Markovian jump system when the saturation limit is not reached. The tracking performance degradation caused by physical saturation of the actuator is tackled by an anti-windup control. The gain matrices of the anti-windup controller are obtained by solving a set of matrix inequalities. Numerical simulations are conducted to show the effectiveness of the proposed control technique.