Materials Today: Proceedings xxx (xxxx) xxx

Contents lists available at ScienceDirect

Materials Today: Proceedings

journal homepage: www.elsevier.com/locate/matpr

A review on security analysis of cyber physical systems using Machine

learning
Alshaibi Ahmed Jamal, Al-Ani Mustafa Majid, Anton Konev, Tatiana Kosachenko, Alexander Shelupanov
Department of Complex Information Security of Computer Systems, Faculty of Security, Tomsk State University of Control Systems and Radioelectronics, Tomsk 634050,
Russian Federation

a r t i c l e i n f o a b s t r a c t

Article history: The concept of Cyber Physical System (CPS) is widely used in different industries across the globe. In fact,
Available online xxxx it is the holistic approach towards dealing with cyber space and physical environments that do have
inter-dependencies. In the existing systems, there was a separate approach for security of the two worlds
Keywords: (cyber and physical). However, it does not provide necessary security when security is employed inde-
Cyber security pendently. The research in this paper identifies the need for integrated security for CPS. Besides it throws
Intrusion detection light into different security challenges associated with CPS and the countermeasures that existed based
Cyber threat intelligence
on machine learning and deep learning techniques that come under Artificial Intelligence (AI) and data
Machine learning
science. From the review of literature, it is understood that data science perspective is suitable for pro-
tecting CPS with required adaptive strategy. This paper provides several useful insights related to security
analysis of CPS using machine learning. It paves way for further investigation and realize a comprehen-
sive security framework to protect CPS from internal and external cyber-attacks.
Ó 2021 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the International Confer-
ence on Nanoelectronics, Nanophotonics, Nanomaterials, Nanobioscience & Nanotechnology.

1. Main text cyber-physical security. They focused on cyber-physical security

Cyber-Physical Systems (CPS) is a new approach in looking at
digital systems. In fact, ‘‘CPS is a new generation of digital system,
mainly focuses on complex interdependencies and integration
between cyberspace and physical world”. CPS has an integrated
approach towards communication systems, computing resources,
controls and physical environments. It has network of embedded
computers used for monitoring physical processes that will have
impact on computations and vice versa [1]. In such environment,
cyber-attacks might cause potential risks to underlying systems.
With respect to CPS security design conventional approaches the
physical and cyber systems separately and could not address vul-
nerabilities that are associated with networks and embedded con-
trollers that are meant for monitoring and controlling physical
processes [2,3]. Therefore, there is need for an integrated security
approach for protecting CPS from cyber-attacks. In the literature,
there is substantial evidence on the need for security to such
systems and the havoc that may cause if the security is ignored.
Guo et al. [4] opined that there is increasing prominence to
E-mail address: ahmed.jamal.alshaibi88@gmail.com (A. Ahmed Jamal)
to electric vehicles and developed a set of index-based metrics to
measure performance degradation of such systems due to cyber-
physical attacks. They proposed and implemented a simulation
that provides behaviour of a human driver and investigated the
impact of malicious attacks on such vehicles. They explored on
detection of replay and Denial of Service (DoS) attacks.
Cyber physical system designs witnessed different kinds of
disciplines to be used including sensor networks, electronics, con-
trol engineering, software engineering, error handling, physical
dynamics, machine learning and thermos dynamics besides using
aspect based modelling that separates cross cutting concerns [5].
As explored in Wang et al. [6] different machine learning algo-
rithms towards artificial intelligence (AI) such as K-Nearest Neigh-
bour (KNN), Support Vector Machines (SVM) and Deep Neural
Networks (DNN) are used to prevent DoS attacks in CPS. Code
mutation approaches are studied in Chen et al. [7] to learn different
variants of CPS. In Settanni et al. [8], it is argued that CPS can have
automated Machine Learning (ML) approaches in such a way that
they can have self-adaptive mechanisms to deal with anomalies.
In Babiceanu and Seker [9], it is understood that the data associ-
ated with CPS is the big data and there is need for handling large
volumes of data in assessing security risks. In some CPS use cases

https://doi.org/10.1016/j.matpr.2021.06.320
2214-7853/Ó 2021 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the International Conference on Nanoelectronics, Nanophotonics, Nanomaterials,
Nanobioscience & Nanotechnology.

Please cite this article as: A. Ahmed Jamal, Al-Ani Mustafa Majid, A. Konev et al., A review on security analysis of cyber physical systems using Machine
learning, Materials Today: Proceedings, https://doi.org/10.1016/j.matpr.2021.06.320
A. Ahmed Jamal, Al-Ani Mustafa Majid, A. Konev et al.
such as the one described in Machado and Medeiros Frohlich [10]
with Internet of Things (IoT) integration used blockchain technol-
ogy for security. Without integration with a security framework,
CPS developments lead to potential risk [11]. In order to have effec-
tive security to CPS, there needs to be technological characteristics
such as intelligence, integration and cooperation coupled with
security measures [12]. Research challenges in different domains
of CPS are provided in Allgöwer et al. [13]. Hassan et al. [14]
employed differential privacy attacks to protect privacy issues
associated with CPS.
The research carried out in [15–25] also focused on different
dimensions of CPS including the usage of machine learning to have
intelligence on cyberattacks and preventing them. In this paper,
our contributions are as follows. We investigated on CPS and the
need for integrated security to such systems in the real world
besides security challenges and countermeasures using machine
learning approaches. This paper also throws light on research gaps
that need further study in the area of security to CPS. Tis paper is
structured as follows. Section 2 reviews different security chal-
lenges associated with CPS [58–64]. Section 3 talks about the
importance of ML towards data science. Section 4 covers deep
learning for serving as an Intrusion Detection Systems (IDSs)
[65–67]. Section 5 covers different ML approaches used in CPS
for leveraging security. Section 6 covers the research gaps found
in the research. Section 7 concludes the paper and gives directions
for future work.
2. Emerging security challenges
Embedded controllers in physical environments and digital sys-
tem (cyberspace) are part of CPS. However, this integrated system
is subjected to various kinds of attacks. Different security chal-
lenges are studied by Choo et al. [26] and the attacks are both
internal and external in nature. The potential challenges are asso-
ciated with different systems such as CPS associated with health-
care and IoT, embedded systems and green cryptography, smart
building security, privacy issues in CPS, trust and security in CPS,
Emerging security schemes for embedded security, sensitive data
handling in CPS and other open challenges due to technology
diversity involved in IoT integrated CPS. Time synchronization
attacks in CPS were investigated in Wang et al. [27]. As studied
in Ding et al. [28] different attacks are identified in CPS environ-
ments. They are known as DoS, replay and deception attacks. Mah-
moud et al. [29] identified different attacks associated with CPS.
They include jamming attack, DoS attack, replay attack and decep-
tion attack.
3. Emerging security challenges
Sarker et al. [30] state that cybersecurity is undergoing techno-
logical shift of late and data science is playing crucial role in driv-
ing the change. As data is growing pertaining to cybersecurity
incidents, data science came into picture to figure out the attacks
based on analysis of data. As there are incidents growing, the level
of training data is increasing thus contributing to the automation
of the monitoring of intrusions in cyber space with required intel-
ligence. Towards this end, machine learning plays vital role as it
garners actionable knowledge from different cybersecurity data
sources. As studied in Sarker et al. [30], it is understood that there
has been increase in the spread of IoT use cases from time to time.
In distributed environments, IoT use cases with thousands of con-
nected and resource constrained devices, throw security chal-
lenges. In such context, there is need for an automated and
intelligent means of monitoring cyber space in order to have timely
action when situations arise. They also studied different datasets
2
Materials Today: Proceedings xxx (xxxx) xxx
used for cybersecurity research. The datasets include KDD’99 Cup
[31], NSL-KDD [32], CAIDA [33], ISOT’10 [34], ISCX’12 [35], CTU-
13 [36], UNSW-NB15 [37], CIC-IDS2018 and CIC-IDS2017 [38],
MAWI [39], CERT [40], DGA [41], Malware [42] and Bot-IoT [43].
4. Deep learning for intrusion detection system
Deep learning has emerged to have high impact on the indus-
tries with improved machine learning capabilities to solve prob-
lems in the real world. Vinayakumar et al. [1] explored deep
learning techniques such as Convolutional Neural Network (CNN)
to build an intrusion detection model for preventing cyber-
attacks. They made a hybrid intrusion detection framework to sup-
port both host based and network based intrusion detection. Their
system was found scalable but it needs computing resources as
CNN needs high processing power. They used dataset created out
of a distributed system in order to make experiments with respect
to detection of cyber-attacks. They used different datasets for
empirical study including KDDCup 99, NSL-KDD and UNSW-NB15
to examine different attacks categories such as DoS, U2R, R2L
and probe. They also examined attacks such as flooding, grayhole
and blackhole.
5. Machine learning for security analysis of cyber physical
systems
As discussed in the preceding sections, data science with its
machine learning and deep learning techniques is becoming an
important contributor to automatic analysis of cyber physical sys-
tems to enable continuous monitoring for enhancing security mea-
sures [44]. Kholidy [45] proposed a system with underlying
security framework for autonomous mitigation of cyberattacks
on CPS. It integrates traditional IDS such as SNORT and ML based
approaches in order to have better security. It has consideration
for existing security approaches and risk assessment models to
realize the new Autonomous Response Controller (ARC) frame-
work. They used a probabilistic risk assessment model that is that
assesses potential risk and make appropriate decisions. Lv et al.
[46] explored AI for improving security of CPS. They considered a
‘‘CPS-based indoor environment measurement and control system
for intelligent buildings” as case study. They built a multi-agent
system that has different components such as detection, control,
execution and communication. For classification and regression
purposes, they used Back-Propagation Neural Network (BPNN).
The system is evaluated with different performance metrics such
as Mean Absolute Error (MAE), NRMSE and PSNR and found its
superior performance with least false positives.
Tantawy et al. [2] proposed an integrated approach for CPS
security with model-based approach. In a real world industry, they
used Continuous Stirred Tank Reactor (CSTR) and its integrated
with cyberspace for their study on security. The CPS test bed used
for the experiments contains corporate network and control net-
work besides data exchange for machine learning based monitor-
ing of cyber-attacks. The system has different components such
as plant, control logic, monitoring system, corporate analysis, and
safety logic. A hybrid automaton is formulated in order to identify
cyberattacks. A tree based approach is used in order to hold data
and use it effectively for identification of attacks. Salahdine and
Kaabouch [47] explored cybersecurity threats, vulnerabilities, and
countermeasures with respect to physical layer of Cognitive Radio
Networks (CRN). They focused on different physical layer attacks
associated with dynamic spectrum access, belief manipulation,
eavesdropping and malicious traffic injection. They have also dis-
cussed about detection methods such as compressive sensing,
learning based approaches, IDS model, feature based approach,
A. Ahmed Jamal, Al-Ani Mustafa Majid, A. Konev et al. Materials Today: Proceedings xxx (xxxx) xxx

Table 1
Methods and papers on machine learning based IDSs.

Reference Technique Advantages Limitations Datasets

Kholidy [45] Autonomous Response Controller (ARC) Able to mitigate attacks such as Limited data is considered. Industrial cyber-attack
framework. Aurora. dataset
Lv et al. [46] Multi-Agent System (MAS) with Back- High effectiveness and robustness Needs further research to Data from construction
Propagation Neural Network (BPNN) of security to CPS. improve the system. industry.
Tantawy et al. Hybrid automaton based approach. Security and cost-effectiveness Further integration of model Data of Continuous Stirred
[2] based approach to ML is desired. Tank Reactor (CSTR) testbed.
Salahdine and Survey on countermeasures for physical Insights on different kinds of There is no empirical approach. –
Kaabouch layer attacks on CRNs attacks.
[47]
Sargolzaei et al. Neural network based fault detection Improved reliability, safety and Research is limited to fault Vehicular CPS dataset.
[48] system robustness of CPS. detection.
Goh et al. [49] Unsupervised learning for anomaly Low false positives. Feature selection is to be SWaT dataset
detection (LSTM-RNN) optimized.
Wang et al. [27] FDML classifier using ANN Detection of cyber-attacks and Detection convergence analysis is NYISO dataset
time synchronization (TS) attacks. yet to be explored.
Wu et al. [50] Anomaly detection, KNN and random Detection of attacks on 3D printing A novel security framework is yet Data of cyber manufacturing
forest. and CNC milling desired. system.
Adepu et al. Electrical Power and Intelligent Control Enables security research with EPIC Limited to domain specific Electric Power CPS dataset
[51] (EPIC) testbed. attacks.

data assisted approach, localization based method, belief propaga-
tion method and spectrum sensing techniques. The PU emulation
attacks are categorized into cryptography based approaches, fin-
gerprint based techniques, game theory based solutions and hybrid
approves.
Sargolzaei et al. [48] considered a vehicular CPS case study and
explored the usage of machine learning for fault detection. It
focused on False Data Injection (FDI) attack that causes accidents
in vehicular networks. They proposed a methodology that detects
FDI attacks and takes corrective steps in order to produce correct
signal so as to help drive or controller to know safe distance
between his/her and preceding vehicle. It makes use of a neural
network based approach for fault detection. Goh et al. [49] used
unsupervised learning technique using deep learning by employ-
ing LSTM-RNN to model the system in order to detect abnormal
behaviour. There are two variants of time synchronization attacks
that make use of GPS to influence a CPS. They are known as Time
Synchronization (TS) attack and Stealth Time Synchronization
(STS) attack. Wang et al. [27] explored ML techniques to prevent
such attacks. They proposed an Artificial Neural Network (ANN)
based detection model that leveraged performance in detecting
the attacks. As well as the authors, the type of the Technique, the
study Advantages and Limitations, and the dataset of each identi-
fied work in Table 1.
6. Research gaps
A typical CPS has many layers in its architecture as explored in
Liu et al. [52]. Security is essentially a cross-layer perspective [53]
as different layers are involved in CPS. However, the integration of
the cyberspace and the physical environment has vulnerabilities
that cause different kinds of attacks. As studied in [27,48,50,54]
machine learning techniques are very useful for detecting attacks
automatically in CPS provided a purposefully built security frame-
work. Tantawy et al. [2] opined that there is need for more usage of
ML techniques integrated with the CPS design in an integrated
approach for automating security that otherwise not possible
when security is employed to cyber space and physical environ-
ment separately. This is an invaluable insight that warrants further
research. Settanni et al. [8] suggested the usage of self-adaptation
for enabling CPS to automate the anomaly detection process. This
is an interesting insight that leverages system for autonomous
CPS with self-adaptation. The work in Wu et al. [50] advocated
the importance of advanced machine learning techniques to pro-
3
tect Cyber Manufacturing systems from different kinds of attacks.
As discussed in Chong et al. [55], there is need for characterization
of privacy and security attacks on CPS. The work in Mahmoud et al.
[29] suggested that there is need for further research to use an
adaptive approach that considers monitoring multiple cyber-
attacks at the same time even in presence of resource constraints.
It also needs to consider coordinated cyber-attacks. In case of IoT
use cases, securing control systems that are part of CPS is yet
another direction that needs further focus. The research in Jiang
et al. [56] came up with many future possibilities such as data-
driven fault tolerant controllers, fault localization, deep learning
based solution to prevent false data injection attacks and attacks
such as low sparsity unobservable attack. Delicato et al. [57] inves-
tigated on the CPS and security challenges and opined to have
smart CPS with AI that can ensure protection from cyber-attacks.
7. Conclusion and future work
This paper reviews the state of the art approaches covering dif-
ferent kinds of CPS and different means of security analysis using
ML approaches and deep learning as well. There are different
attacks found in the literature that need to be dealt with in a
CPS. They include replay attack, DoS attack, jamming attacks, time
synchronization attack, stealth time synchronization attack, false
data injection attack and so on.
There are different countermeasures found in the literature.
Machine learning techniques like KNN, SVM, CNN, LSTM-RNN,
BPNN, ANN etc. were used in the research. However, it is under-
stood from the research that ML techniques are indispensable
due to the bulk of data that needs to be processed in order to detect
different kinds of attacks. This paper is the first step in understand-
ing CPS and its security aspects. The insights of the research in this
paper paves way for the work in future. A specific direction
towards it is to have a comprehensive AI based security framework
that protects CPS from cyber-attacks.
Funding
The article was prepared as part of implantation of the «Leading
research center (LRC) «Trusted Sensor Systems», financial support
provided by Ministry of Digital Development, Communications
and Mass Media of the Russian Federation and Russian Venture
Company (RVC JSC) (Agreement 009/20 dated 04/10/2020).
A. Ahmed Jamal, Al-Ani Mustafa Majid, A. Konev et al. Materials Today: Proceedings xxx (xxxx) xxx

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