LAUSR

With the acceleration of industrialization and informatization, industrial cyber-physical systems (ICPSs) have played an increasingly important role in industrial applications. However, due to the deep integration of transmission networks, ICPSs are inevitably exposed to cyberattacks. This article investigates the problem of secure state estimation for nonlinear ICPSs with multiple transmission channels subject to denial-of-service (DoS) attacks. With the help of a multigain switching mechanism and the Takagi–Sugeno fuzzy models, a new nonlinear resilient observer scheme is proposed and the resilience is quantified by characterizing attack duration and frequency. Specifically, to improve the resilience against DoS attacks, the observer gains are delicately designed for different attack patterns. Compared with the existing results which focus on the linear ICPSs with a single transmission channel subject to cyberattacks, the considered secure estimation problem for nonlinear ICPSs with multiple transmission channels is more challenging and has greater practical significance. Finally, the effectiveness of the presented scheme is illustrated with the simulation results on a single-link rigid robot system and the experimental results on a rotary inverted pendulum built in a hardware-in-the-loop testing platform.