Design of Security Control for Dual-Rate CPSs Under Two-Channel DoS Attacks: SAH-Based and ASP-Based Estimation Techniques

This article investigates the state estimation and security control problem for discrete-time dual-rate cyber–physical systems (CPSs) under denial-of-service (DoS) attacks. The asynchrony predicament between different signals of dual-rate CPSs, exacerbated by the impact of cyber attacks on the sensor-to-controller channel, substantially increases the complexity of state estimation and control processes. Based on the signal-to-interference-plus-noise ratio and two-channel probability descriptions, an improved sample-and-hold (SAH) estimator is applied to dual-rate CPSs, ensuring favorable state estimates while enduring low-frequency sampling and DoS attacks. Furthermore, to solve the performance degradation problem posed by the SAH algorithm, an alternating-sampling-prediction (ASP)-based estimation method is proposed. At each fast-update moment, the predictor generates virtual outputs. The estimator can reconstruct complete state information by alternately using incomplete sampling data and iterative predictive information. Compared with the SAH method, the proposed ASP-based approach significantly enhances the control performance of dual-rate CPSs. Building on two valid estimation methods, the corresponding security control inputs are designed, guaranteeing both ideal control performance and resilience against attacks. Using convex optimization analysis, both estimator and controller gains are calculated to realize the stochastic stability of closed-loop dual-rate CPSs. Finally, the effectiveness and intercomparisons of the two estimation methods are shown by simulating a satellite yaw-angle control system and a quadrotor landing control experiment.