240
2, FEBRUARY 2021
Security Sliding Mode Control of Interval Type-2
Fuzzy Systems Subject to Cyber Attacks: The
Stochastic Communication Protocol Case
Zhina Zhang , Yugang Niu , Zhiru Cao , and Jun Song , Member, IEEE
Abstract—This article addresses the security control problem of
a class of interval type-2 fuzzy systems via the sliding mode control
strategy. A stochastic communication scheduling protocol is uti-
lized to govern the transmission from the sensors to the controller,
by which only one sensor node has the chance to transmit its value
at every instant. Meanwhile, cyber attacks from malicious adver-
saries might be launched in vulnerable communication channels.
To quantitatively analyze the effect of the stochastic communication
protocol and cyber attacks, their mathematical model is first con-
structed based on a compensation scheme. Since the scheduling sig-
nal may be unavailable once cyber attacks are activated, a desirable
sliding mode control law is synthesized with token-independent
control gains, whose membership functions are mismatched with
those of the fuzzy system. To deal with these mismatched member-
ship functions, the relations between the membership functions of
the system and the control law are reconstructed. Consequently,
the favorable property of perfectly matched memberships could
be employed. Sufficient conditions are derived so that the resultant
closed-loop interval type-2 fuzzy system is stochastically stable
and, at the same time, the state trajectories can be forced into a
small domain around the prescribed sliding surface. The proposed
control design approach is verified by two examples.
Index Terms—Cyber attack, interval type-2 fuzzy system, sliding
mode control, stochastic communication protocol.
I. INTRODUCTION
LIDING mode control (SMC) has received substantial at-
S tention in the past decades due to its attractive merits, such
as strong robustness, fast response, and so on. The key feature
of SMC is to utilize a discontinuous control law to drive the
system states onto a prescribed sliding surface in finite time,
Manuscript received September 5, 2019; revised December 20, 2019 and
January 27, 2020; accepted February 3, 2020. Date of publication February 10,
2020; date of current version February 3, 2021. This work was supported by
the NNSF under Grants 61803255 and 61673174 from China. (Corresponding
author: Yugang Niu.)
Zhina Zhang, Zhiru Cao, and Jun Song are with the Key Laboratory
of Advanced Control and Optimization for Chemical Process, East China
University of Science and Technology, Ministry of Education, Shanghai
200237, China (e-mail: zhina_zhang506@126.com; zhiru_cao@163.com;
jun_song@ecust.edu.cn).
Yugang Niu is with the Key Laboratory of Advanced Control and Optimiza-
tion for Chemical Process, East China University of Science and Technology,
Ministry of Education, Shanghai 200237, China, and also with the Shanghai
Institute of Intelligent Science and Technology, Tongji University, Shanghai
200092, China (e-mail: acniuyg@ecust.edu.cn).
Color versions of one or more of the figures in this article are available online
at https://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TFUZZ.2020.2972785
1063-6706 © 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.
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IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 29, NO.
and then maintain the state on it for all succeeding time. Taking
the advantages of the SMC approach, fruitful research outcomes
have been reported for different systems, e.g., linear systems [1],
switched systems [2], Markovian systems [3], [4], and so on.
With the rapid advance of network technologies, a large
number of signals (e.g., measurement output, control signal) in
feedback control systems are transmitted via shared wireless
networks. One key issue concerned by many researchers is
the finite communication capacity. Reducing the quantity of
data transmission can effectively relieve the communication
burden. An effective method is to coordinate data transmissions
according to some protocols, such as the round-robin (RR)
protocol [5], [6], stochastic communication protocol (SCP) [7],
[8], try-once-discard (TOD) protocol [9], and so on. Under these
protocols, only a part of sensor/actuator nodes can gain access
to the network at each transmission instant. For the SCP, which
was first investigated in [10] for discrete-time systems and in [11]
for continuous-time cases, these nodes are allowed to transmit
their values in random order. To date, some preliminary works
have been reported concerning the control [12] and filtering [13]
problem based on the SCP scheduling.
Cyber security, another fatal issue, has aroused a noticeable
research interest, especially on how to guarantee the system
performance under cyber attacks, e.g., denial-of-service (DoS)
attacks [2], replay attacks [14], and deception attacks [3], [15],
[16]. Replay attacks imply that useful signal transmission is
viciously repeated or delayed; deception attacks intentionally
modify the data integrity of packets. For DoS attacks, the ad-
versaries aim to prohibit the data transmission by occupying the
communication resources, such that system performance can be
greatly degraded. Up to now, some mathematical models have
been proposed to quantitatively analyze the performance deteri-
oration, such as the queueing model [17], Bernoulli model [18],
Markov model [19], and so on. In practical applications, the
sensor/actuator nodes selected by SCP may also suffer from
stochastic cyber attacks as transmitting signals over an unse-
cured communication channel. In such cases, it will be chal-
lenging to model the cyber attacks and the SCP simultaneously
as well as analyze their influences on control synthesis, which
constitutes the first motivation of this article.
As an effective tool for expressing complicated nonlinear
systems, Takagi–Sugeno (T–S) fuzzy technique has been widely
exploited in nonlinear system modeling and control [20]–[25].
For the fuzzy systems controlled by traditional point-to-point
ZHANG et al.: SECURITY SLIDING MODE CONTROL OF INTERVAL TYPE-2 FUZZY SYSTEMS SUBJECT TO CYBER ATTACKS
connection, the parallel distribution compensation (PDC)
approach is representative for fuzzy controller synthesis. The
main idea of PDC is to design a compensator for all rules
of the T–S fuzzy system so that the fuzzy controller and the
fuzzy model share the identical membership functions (MFs)
and fuzzy sets. In this case, the MFs were termed as perfectly
matched ones in [26], based on which the analysis techniques as
in [27]–[29] can be employed to obtain relaxed stability results.
In order to increase the design flexibility, some researchers
proposed the non-PDC control strategy in [30]–[35], where the
MFs were termed as mismatched MFs. For example, Lam and
Leung [32] studied the stability issue of a class of T–S fuzzy
systems with parameter uncertainties, in which the unmatched
MFs were handled by reconstructing the relations between
the MFs of the controller and those of the fuzzy model. If a
T–S fuzzy system is closed via wireless networks, the MFs in
the fuzzy controller may be different from those used in the
system model, since state information obtained by the controller
might be changed. A key issue for this case is how to deal
with these mismatched MFs. In [36], the authors summarized
the adopted MFs in the literature and synthesized two kinds
of fuzzy controllers by using the so-called asynchronous and
synchronous MFs methods. It was shown in [36], that the
asynchronous approach could yield a linear controller, i.e., the
fuzzy control gains will be identical if no additional methods are
applied to deal with the mismatched MFs; while the synchronous
method can successfully avoid this disadvantage. This
synchronous method was then extended to the event-triggered
H∞ control for a class of networked T–S fuzzy systems [37].
It has been noted that, the MFs in T–S fuzzy systems may
be uncertain or there are parameter perturbations. This has
motivated the research interest on interval type-2 (IT2) fuzzy
systems, in which the uncertain information can be absorbed
by the lower and upper MFs. As a result, the IT2 fuzzy sys-
tem can be considered as a set of infinite number of type-1
fuzzy systems [38]–[44]. Construction analysis methods were
proposed in [38] and [39] for IT2 fuzzy systems. Apparently,
the IT2 fuzzy model and controller have mismatched MFs, since
the system MFs are unknown. Although the synchronous MFs
method in [32], [36], and [37] for type-1 fuzzy systems provide
references for IT2 fuzzy systems with unmatched MFs, it cannot
be directly extended to the IT2 case. Then, how to tackle the
mismatched MFs for networked IT2 fuzzy system under the
SCP and DoS attacks is a nontrivial task that constitutes the
second motivation of the present study.
Responding to the above discussions, this article investigates
the security control problem of a class of IT2 fuzzy systems
under cyber attacks via a sliding mode control approach. The
data transmission from sensors to the controller is scheduled by
the SCP, meanwhile, cyber attacks are stochastically launched
by malicious adversaries. Both DoS attacks and SCP are first
modeled via a compensation scheme. As the scheduling signal
may be unavailable for the controller once cyber attacks happen,
a desirable SMC law with token-independent control gains,
instead of the token-dependent ones as in [7], is synthesized
in this article. This just reflects the effect of DoS attacks on
controller synthesis. To handle these mismatched MFs between
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241
Fig. 1. Network configuration with the SCP and DoS attacks.
the controller and the controlled system, the relations between
their MFs are reconstructed. As a consequence, the favorable
property (as discussed in paragraph 3 of the Introduction section)
offered by the perfectly matched MFs can be utilized to improve
the stabilization of the IT2 fuzzy system. Sufficient conditions
are derived to ensure the stochastic stability of the resultant
closed-loop fuzzy system and the reachability of the specified
sliding surface.
Notations: In this article, R is the set of reals and . is
the Euclidean norm. For a real symmetric matrix, P > 0(≥ 0)
represents that P is a positive definite (or positive semidefi-
nite) matrix. I denotes an identity matrix with proper dimen-
sions. The transpose of the matrix A is represented by AT .
λmin (W ) (λmax (W )) refers to the smallest (largest) eigen-
value of W . ⊗ denotes the Kronecker product of two matrices.
E{a} is the expectation of stochastic variable a and E{a | b}
represents the conditional expectation of a on b. (∗) refers
to an ellipsis that can be derived by symmetry in symmet-
ric matrices. The function sgn(·): Rm → Rm is defined as
sgn(s) = [sgn(s1 ), sgn(s2 ), . . ., sgn(sm )] with
⎧
⎪
⎨1 if si > 0
sgn(si ) = 0 if si = 0
⎪
⎩
−1 if si < 0
for i = 1, 2, . . ., m.
II. PROBLEM DESCRIPTION
A. Mathematic Model of SCP and DoS Attacks
Consider the system configuration in Fig. 1, where n sensors
will transmit their values toward the controller side via a shared
vulnerable network suffered from possible cyber attacks. To
simplify, it is assumed in this article that the control signals
can always be received by the actuators. In order to relieve
the communication burden, SCP scheduling is utilized to rule
the transmission of the sensor nodes. Under this protocol, at
any transmission time, only one sensor has the opportunity
to transmit its value via the network. The stochastic schedul-
ing signal τ (k), also termed as token τ (k), is governed by a
242 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 29, NO. 2, FEBRUARY 2021

Markovian chain. A Markov chain is a stochastic model de-
scribing a sequence of possible events, where the probability of
each event is only dependent on the state obtained in the previ-
ous event. In this article, the stochastic scheduling signal τ (k)
takes values in a finite set N = {1, 2, . . ., n}, whose transition
probabilities are defined by
πμν  P {τ (k + 1) = ν|τ (k) = μ} (1)
n
with 0 ≤ πμν ≤ 1, μ, ν ∈ N and ν=1 πμν = 1.
Denote x(k) = [x1 (k), x2 (k), . . ., xn (k)]T as the system
state, Ωq  diag{δq1 , δq2 , . . ., δqp } as the matrix of indicators,
q = 1, 2, . . ., n, δcd = δ(c − d), with δ(c − d) = 1 for c = d
and δ(c − d) = 0 for otherwise. Then, according to the SCP
scheduling, the signal to be transmitted is x̆(k) = Ωτ (k) x(k),
Ωτ (k) ∈ {Ω1 , Ω2 , . . ., Ωn }. For τ (k) = q, we have x̆(k) =
[0, . . ., 0, xq (k), 0, . . ., 0]T , i.e., only the qth component of the
system state x(k) is transmitted at instant k.
In practical applications, the DoS attackers may maliciously
destroy the transmitted data in a random way according to the
probability distribution given as follows:
P {β(k) = 1} = β̂, P {β(k) = 0} = 1 − β̂
the SMC law designed in Section III will not depend on the
token τ (k).
B. System Description
Consider a class of IT2 fuzzy systems with the ith rule given
as follows [38], [39]:
Rule i: If χ1 (x(k)) is N1i , and . . ., χα (x(k)) is Nαi , then
x(k + 1) = Ai x(k) + Bi (u(k) + d(k, x(k))), i = 1, 2, · · ·,
(5)
where χj (x(k)) refers to the premise variable, Nji stands for the
IT2 fuzzy set; x(k) ∈ Rn is the state vector, and u(k) ∈ Rm
denotes the control input; Ai ∈ Rn×n , Bi ∈ Rn×m are
known system matrices; the disturbance d(k, x(k)) satisfies
d(k, x(k)) ≤ x(k) with being a given positive scalar.
The firing strength corresponding to the ith fuzzy rule is
described by the interval sets as follows:
Wi (x(k)) = [mi (x(k)), m̄i (x(k))]

where mi (x(k)) = α j=1 μN i (χj (x(k))) ≥ 0, m̄i (x(k)) =
(2) α j

j=1 μ̄Nji (χj (x(k))) ≥ 0, μN i (χj (x(k))) ≤ μ̄Nji (χj (x(k)))

where β(k) ∈ {0, 1} is a Bernoulli process. A Bernoulli process j
with μN i (χj (x(k))) ∈ [0, 1] and μ̄Nji (χj (x(k))) ∈ [0, 1] being
is a discrete-time stochastic process composed of a sequence of j

binary random variables taking only two values 0 and 1. The the lower and upper grade of membership, respectively.
given constant β̂ refers to the probability that the DoS attacks The global model of the fuzzy system (5) is formulated by
may happen. Generally, it is reasonable to assume that β̂ ∈ [0, 1) 
due to resources constraints of attackers [45]. x(k + 1) = mi (x(k))[Ai x(k) + Bi (u(k) + d(k, x(k)))]
In summary, under the SCP scheduling, only one selected i=1
sensor node, indicated by Ωτ (k) x(k), has the opportunity to (6)
transmit its measurement value at each instant via an unreliable
communication channel, where DoS attacks are stochastically with
activated. To alleviate the effect of the DoS attacks and SCP,
mi (x(k)) = mi (x(k))v i (x(k)) + m̄i (x(k))v̄i (x(k)) (7)
the following compensator is proposed to generate available
information for the controller v i (x(k)), v̄i (x(k)) ∈ [0, 1], v i (x(k)) + v̄i (x(k)) = 1 (8)
x(k) = (1 − β(k))Ωτ (k) x(k) + β(k)Ωτ (k) x(k − 1) 
mi (x(k)) = 1. (9)
+ (I − Ωτ (k) )x(k − 1), τ (k) = 1, 2, . . ., n (3) i=1

which exhibits the following relation for τ (k) = q: It is easily obtained from (7)–(8) that mi (x(k)) ≤ mi (x(k)) ≤
m̄i (x(k)).
x(k) =
 Definition 1: In [46] the IT2 fuzzy system (6) subject to DoS
[x1 (k − 1), . . ., xq (k − 1), . . ., xn (k−1)]T , for β(k) = 1 attacks and SCP scheduling is stochastically stable if
∞
[x1 (k − 1), . . ., xq (k), . . ., xn (k − 1)]T , for β(k) = 0.
E x(k)2 | x(0), τ (0) <∞ (10)
(4)
k=0
Remark 1: In the first term of (3), Ωτ (k) x(k) refers to the holds for any x(0) ∈ Rn , τ (0) ∈ {1, 2, . . ., n}.
measurement value of the stochastically selected sensor by Now, the purpose of this article is to attain the stochastic
the SCP scheduling. The second term β(k)Ωτ (k) x(k − 1) and stability for the IT2 fuzzy system (6) via a sliding mode control
the third term (I − Ωτ (k) )x(k − 1) are used to compensate the scheme.
effect of DoS attacks and the SCP scheduling, respectively. In
practical applications, a channel marker word can be utilized III. CONTROLLER DESIGN
to stamp the scheduling signal τ (k). When the network works
under normal status, i.e., the DoS attacks are not activated, In this article, the following sliding variable is constructed:
the selected state x̆(k) and the scheduling signal τ (k) can be s(k) = (1 − β̂)Gx(k) − β̂Gx(k − 1) (11)
received by the controller; otherwise, x̆(k) and τ (k) will be
unavailable for the controller. Therefore, the control gains of where G is a given matrix.

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ZHANG et al.: SECURITY SLIDING MODE CONTROL OF INTERVAL TYPE-2 FUZZY SYSTEMS SUBJECT TO CYBER ATTACKS 243

As discussed in Sections I and II, the system state x(k) may
be unavailable at the controller side, except for the available
compensating information x(k) in (3). Therefore, we design the
following SMC law based on compensator (3):

1 To guarantee mi (x(k)) > 0, one can refer to the method
u(k) = hi (x(k))Fi x(k) − x(k − 1)sgn(s(k))
(1 − β̂) i=1
where s(k) is obtained by replacing x(k) in (11) with x(k),
Fi is the control gain to be determined later. Since the system
MFs mi (x(k)) are unknown, we construct the following MFs
hi (x(k)) for the controller:
hi (x(k)) = mi (x(k))αi (x(k)) + m̄i (x(k))ᾱi (x(k))

hi (x(k)) = 1
i=1
where αi (x(k)) and ᾱi (x(k)) can be selected according to
actual demand satisfying ai (τ (t)), āi (τ (t)) ∈ [0, 1], ai (τ (t)) +
āi (τ (t)) = 1, i = 1, 2, . . ., .
Remark 2: As discussed in Remark 1, the scheduling signal
τ (k) may be unavailable for the controller when the attack is
activated. This implies that we can not utilize τ (k) to design
the control parameter Fi . On the other hand, the available state
x(k) is dependent on the token τ (k) when DoS attacks are absent
according to this proposed compensating scheme (3). So, in this
sense, this controller (12) is implicitly dependent on this token.
This is just the effect of DoS attacks integrating with the SCP
scheduling.
Note that the MFs mi (x(k)) of the fuzzy system (6) are
different from those hi (x(k)) of the sliding mode controller (12).
To handle these mismatched MFs, we construct the following
relations between mi (x(k)) and hi (x(k)):
hi (x(k)) = ξi (x(k), x(k))mi (x(k)), i = 1, 2, . . . ,
and
minx(k) hi (x(k)) hi (x(k))
0 < ξi1  ξimin = = min
maxx(k) mi (x(k)) x(k),x(k) mi (x(k))
hi (x(k)) hi (x(k))
≤ ξi (x(k), x(k)) = ≤ max
mi (x(k)) x(k),x(k) mi (x(k))
maxx(k) hi (x(k))
= = ξimax  ξi2 < ∞, i = 1, 2, . . . ,
minx(k) mi (x(k))
(15)
where maxx(k) (·) and minx(k) (·) refer to the maximum
one can easily obtain that minx(k) mi (x(k)) > 0. Moreover, ac-
cording to the relation (4), x(k) and x(k) share the same domain
of definition. Therefore, the lower bound of mi (x(k)) > 0 is
also the one of mi (x(k)). So, 0 < mi (x(k)) ≤ hi (x(k)), i.e.,
minx(k) hi (x(k)) > 0.
proposed in [32], where the analysis problem of type-1 fuzzy
(12) system has been investigated. The main idea in [32] is to con-
sider a larger operating domain than the actual one during the
modeling process. For example, according to the standard sector
nonlinear modeling process, mi (x(k)) are usually expressed as
mi (x(k)) = f f(x(k))−f min
(or mi (x(k)) = fmax −f (x(k))
max −fmin fmax −fmin ), where
fmin and fmax are the minimum and maximum value of f (x(k)),
respectively. Thus, in the larger operating domain, the con-
sidered MFs will take values between [0,1]. As mi (x(k)) is
linear and monotonically increasing/decreasing with respect to
(13)
f (x(k)), the boundary value, i.e., mi (x(k)) = 0 or mi (x(k)) =
1, will be achieved at the left or right end of the larger operating
domain. Therefore, the boundary values of mi (x(k)) will be
excluded in its actual domain. This idea will also be employed
in the simulation examples later.
Remark 3: In this article, the equality (14) relating to the MFs
of the controller and the fuzzy model is introduced to handle the
mismatched MFs. This approach is motivated by [32]. To guar-
hi (x(k))
antee 0 < m i (x(k))
< ∞, this article requires mi (x(k)) > 0
instead of minx(k) mi (x(k)) > 0 and minx(k) hi (x(k)) > 0 as
in [32]. Thus, the existing method cannot directly be generalized
to the system in this article because of the special structure of
IT2 MFs expressed in (7). Apparently, this structure reveals
that mi (x(k)) may be nonlinear and not monotonic function,
so mi (x(k)) might be 0 or 1 at some points in its actual domain.
Therefore, minx(k) mi (x(k)) > 0 cannot be directly ensured
based on the method in [32].
Substituting (3) and (14) into the SMC law (12) and rewriting
(14) ξi (x(k), x(k)) as ξi (k) yield that

1
u(k) = ξi (k)mi (x(k)) Fi [(1 − β(k))Ωτ (k) x(k)
(1 − β̂)
i=1
+ β(k)Ωτ (k) x(k − 1) + (I − Ωτ (k) )x(k − 1)]
− x(k − 1)sgn(s(k)). (16)
By means of (6) and (16), the resultant closed-loop system can
be obtained as
 
x(k + 1) = ξj (k)mi (x(k))mj (x(k))
i=1 j=1

and minimum values of the arguments for all x(k) 

1
with x(k) ∈ {x(k), x(k), (x(k), x(k))}, respectively, satisfying × Ai + (1 − β(k))Bi Fj Ωτ (k) x(k)
minx(k) (·) ≤ maxx(k) (·). (1 − β̂)
hi (x(k))
To guarantee 0 < m i (x(k))
< ∞ as required in (15), one 1
+ Bi Fj (β(k)Ωτ (k) +I − Ωτ (k) )x(k−1)
should ensure minx(k) mi (x(k)) > 0 and minx(k) hi (x(k)) > 0. (1 − β̂)
Since the IT2 MFs mi (x(k)) and hi (x(k)) lie in the area
between the lower and upper MFs, it is easily seen that − x(k − 1)Bi sgn(s(k)) + Bi d(k, x(k)) .
minx(k) mi (x(k)) > 0 and minx(k) hi (x(k)) > 0 will be at-
tained by mi (x(k)) > 0. In fact, as 0 < mi (x(k)) ≤ mi (x(k)), (17)

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244 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 29, NO. 2, FEBRUARY 2021

IV. STOCHASTIC STABILITY ANALYSIS  E{V1 (z(k + 1), τ (k + 1) | z(k), τ (k))−V1 (z(k), τ (k))}
In the sequel, the stochastic stability of the resultant closed-  μ x(k + 1) | z(k), τ (k)}
= E{xT (k + 1)P
2 system (17) will be analyzed. To this end, denote ξi (k) =
loop
l=1 il ξil with ξil (l = 1, 2) defined in (15), and i1 =  μ x(k) | z(k), τ (k)}
+ E{xT (k)R
ξi −ξi2 ξi1 −ξi 2
ξi1 −ξi2 ≥ 0, i2 = ξi1 −ξi2 ≥ 0 satisfying l=1 il = 1.
Theorem 1: Given these scalars ξjl and ξir for the IT2 fuzzy − xT (k)Pμ x(k) − xT (k − 1)Rμ x(k − 1). (23)
system (6) with DoS attacks and SCP scheduling, if there exist
Noting that 1 − β(k) = 1 − β̂ + (β̂ − β(k)) and β(k) = β̂ −
scalar ζ1 > 0 and matrices Pμ > 0 and Rμ > 0 satisfying
(β̂ − β(k)) and utilizing (17), one has
 μ B i ≤ ζ1 I
BiT P (18)
 μ x(k + 1) | z(k), τ (k)}
E{xT (k + 1)P
Γiiμ < 0 (19) 
 
ξjl Γijμ + ξir Γjiμ < 0, for i < j (20) ≤ ξj (k)mi (x(k))mj (x(k)) 3 (Ai +Bi Fj Ωμ )x(k)
i=1 j=1
with
n n T
μ  μ  1
P πμν Pμ , R πμν Rμ (21) + Bi Fj (β̂Ωμ + I − Ωμ )x(k − 1)
ν=1 ν=1 (1 − β̂)
and
 μ (Ai + Bi Fj Ωμ )x(k)
×P
Γ11
ijμ ∗ Mj11 ∗
Γijμ  , Mj 
Γ21 22
ijμ Γijμ Mj21 Mj22
1
+ Bi Fj (β̂Ωμ + I − Ωμ )x(k − 1)
(1 − β̂)
Γ11
ijμ
 μ (Ai + Bi Fj Ωμ ) + 3ζ1
 3(Ai + Bi Fj Ωμ ) P T 2
I
β̂
β̂  μ Bi Fj Ωμ + [Bi Fj Ωμ (x(k) − x(k − 1))]T
+ (Bi Fj Ωμ )T P (1 − β̂)
(1 − β̂)
 μ Bi Fj Ωμ (x(k) − x(k − 1))
×P
 μ Ωμ − Pμ
+ (1 − β̂)Ωμ R
6
Γ21
ijμ 
 μ (Ai + Bi Fj Ωμ )
[Bi Fj (β̂Ωμ + I − Ωμ )]T P + 3ζ1 m 2 xT (k − 1)x(k − 1) + 3ζ1 2 T
x (k)x(k) (24)
(1 − β̂)
2β̂  μ Bi Fj Ωμ
in which the expression (18) is utilized. By using (3), one can
− (Bi Fj Ωμ )T P obtain
(1 − β̂)
 μ Ωμ  μ x(k) | z(k), τ (k)}
E{xT (k)R
+ 2(1 − β̂)(β̂Ωμ + I − Ωμ )R
 μ Ωμ , μ
= [(1 − β̂)Ωμ x(k) + (β̂Ωμ + I − Ωμ )x(k − 1)]T R
− 2β̂(1 − β̂)Ωμ R
3 × [(1 − β̂)Ωμ x(k) + (β̂Ωμ + I − Ωμ )x(k − 1)]
Γ22
ijμ 
μ
[Bi Fj (β̂Ωμ + I − Ωμ )]T P
(1 − β̂)2 + β̂(1 − β̂)[Ωμ (x(k) − x(k − 1))]T
 μ Ωμ
× [Bi Fj (β̂Ωμ + I − Ωμ )] + β̂(1 − β̂)Ωμ R  μ Ωμ (x(k) − x(k − 1)).
×R (25)
β̂  μ (Bi Fj Ωμ ) + 3ζ1 m 2 I
+ (Bi Fj Ωμ )T P Combining (23), (24), and (25) yields
(1 − β̂)
E{ΔV1 (z(k), τ (k)) | z(k), τ (k)}
 μ (β̂Ωμ + I − Ωμ ) − Rμ
+ (β̂Ωμ + I − Ωμ )R
 
for μ = 1, 2, . . ., n, i, j = 1, 2, . . . , , l, r = 1, 2, the resultant ≤ mi (x(k))mj (x(k))z T (k)ξj (k)Γijμ z(k)
closed-loop system (17) is stochastically stable. i=1 j=1
Proof: Consider the following Lyapunov function: 
V1 (z(k), τ (k)) = m2i (x(k))z T (k)ξi (k)Γiiμ z(k)
i=1
= xT (k)Pτ (k) x(k) + xT (k − 1)Rτ (k) x(k − 1) (22)

with z(k) = (x (k), x (k − 1)) . Letting τ (k) = μ, τ (k +
T T T + mi (x(k))mj (x(k))z T (k)
1) = ν, we have i=1 j>i

E{ΔV1 (z(k), τ (k)) | z(k), τ (k)} × [ξj (k)Γijμ + ξi (k)Γjiμ ]z(k). (26)

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ZHANG et al.: SECURITY SLIDING MODE CONTROL OF INTERVAL TYPE-2 FUZZY SYSTEMS SUBJECT TO CYBER ATTACKS 245

2 2
Recalling that l=1 il = 1 and ξi (k) = l=1 il ξil , one has
Remark 4: It should be pointed out that the fuzzy controller
(12) and the IT2 fuzzy system (6) have unmatched MFs, under
2
which the analyzing techniques for matched MFs cannot be ap-
ξi (k)Γiiμ = il ξil Γiiμ . (27) plied. Based on (14) relating the MFs of both system model and
l=1
sliding mode controller, the unmatched MFs can be converted to
On the other hand, we have the matched case as shown in (17). Consequently, the stability
analysis method in [27]–[29] under perfect matched MFs could
ξj (k)Γijμ + ξi (k)Γjiμ
be utilized to facilitate the stability analysis. However, it should
2 be pointed out that this method is valid only for the case that the
= [ jl ξjl Γijμ + il ξil Γjiμ ] controller and the fuzzy model share the same number of fuzzy
l=1 rules. For the case that the fuzzy model and the controller have
2
 2 2 different MFs and different number of fuzzy rules, this method
= ir jl ξjl Γijμ + jr il ξil Γjiμ will be infeasible.
l=1 r=1 r=1
2 2 2 2 V. REACHABILITY ANALYSIS
= ir jl ξjl Γijμ + jr il ξil Γjiμ In this section, the reachability criterions are provided. It is
l=1 r=1 l=1 r=1 shown that the system states can be driven into a small region
2 2 2 2 around the prescribed sliding surface s(k) = 0.
= ir jl ξjl Γijμ + jl ir ξir Γjiμ Theorem 2: Given these scalars ξjl and ξir for the IT2 fuzzy
l=1 r=1 r=1 l=1 system (6) under DoS attacks and SCP scheduling with the
2 2 sliding mode controller (12), if there exist scalars ζ1 , ζ2 and
= ir jl [ξjl Γijμ + ξir Γjiμ ]. (28) matrices Pμ > 0, Rμ > 0, Wμ > 0, Fi satisfying (18) and the
l=1 r=1 following matrix inequalities:
It is easily obtained from (27)–(28) that  μ GBi ≤ ζ2 I
BiT GT W (33)

E{ΔV1 (z(k), τ (k)) | z(k), τ (k)} Γ̂iiμ < 0 (34)

  2
ξjl Γ̂ijμ + ξir Γ̂jiμ < 0, for i < j (35)
≤ z T (k) m2i (x(k)) il ξil Γiiμ
i=1 l=1 with
Γ̂11
n
 2 2
μ  ijμ ∗
W πμν Wμ , Γ̂ijμ 
+ mi (x(k))mj (x(k)) ir jl Γ̂21 22
ijμ Γ̂ijμ
ν=1
i=1 j>i l=1 r=1
and
× [ξjl Γijμ + ξir Γjiμ ] z(k). (29) Γ̂11 11
ijμ  Γijμ + 3[(1 − β̂)(GAi + GBi Fj Ωμ ) − β̂G]
T

 μ [(1 − β̂)(GAi + GBi Fj Ωμ ) − β̂G]

×W
By means of (19)–(20), one has
 μ GBi Fj Ωμ
+ β̂(1 − β̂)(GBi Fj Ωμ )T W
E{ΔV1 (z(k), τ (k)) | z(k), τ (k)} ≤ −σz(k)2 < 0 (30)
Γ̂21 21
ijμ  Γijμ + 6[GBi Fj (β̂Ωμ + I − Ωμ )]
T
with σ = mini,μ,l λmin { − ξil Γiiμ } + mini,j,μ,l,r λmin {−[ξjl
Γijμ + ξir Γjiμ ]} > 0. Taking expectation for both sides of (30)  μ [(1 − β̂)(GAi + GBi Fj Ωμ ) − β̂G]
×W
yields E{ΔV1 (z(k), τ (k))} ≤ −σE{z(k)2 }. By taking sum
on both sides of the above inequalities with respect to k from 0  μ GBi Fj Ωμ
− 2β̂(1 − β̂)(GBi Fj Ωμ )T W
to N for any integer N > 0, we have
Γ̂22 22
ijμ  Γijμ + 3[GBi Fj (β̂Ωμ + I − Ωμ )]
T

E{V1 (z(N + 1), τ (N + 1))} − E{V1 (z(0), τ (0))}  μ [GBi Fj (β̂Ωμ + I − Ωμ )]

N ×W

≤ −σE z(k)2 . (31)  μ GBi Fj Ωμ

+ β̂(1 − β̂)(GBi Fj Ωμ )T W
k=0
for μ = 1, 2, . . ., n, i, j = 1, 2, . . . , , l, r = 1, 2, the states of
Thus, we obtain the closed-loop fuzzy system (17) can be forced into the region
N given as
E{V1 (z(0), τ (0)) 
E z(k)2 ≤ < ∞. (32) ℵ(k)
σ D  s(k) | s(k) ≤
k=0
minμ λmin (Wμ )
Taking N → ∞, the stochastic stability of the closed-loop IT2
fuzzy system (17) can be ensured by (32) and Definition 1.  with ℵ(k)  3ζ2 (1 − β̂)2 2
(mx(k − 1)2 + x(k)2 ).

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246 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 29, NO. 2, FEBRUARY 2021


Proof: Choose the Lyapunov candidate function as Thus, when s(k) > minµ λℵ(k) min (Wµ )
, we have from (34)–(35)
that E{ΔV2 (z(k), τ (k)) | z(k), τ (k)} < 0. Taking expecta-
V2 (z(k), τ (k)) = V1 (z(k), τ (k)) + sT (k)Wμ s(k). (36)
tions with respect to both sides of the above inequalities results
Form (11) and (17), we can obtain in E{ΔV2 (z(k), τ (k))} < 0, which implies that system states
 μ s(k + 1) | z(k), τ (k)} will be forced into the sliding domain D. 
E{sT (k + 1)W
  VI. SOLVING ALGORITHM
≤ ξj (k)mi (x(k))mj (x(k))
i=1 j=1
In the sequel, a solving algorithm will be given to guarantee
   that the criterions in Theorems 1 and 2 hold simultaneously.
× 3 (1 − β̂)(GAi + GBi Fj Ωμ ) − β̂G x(k) Theorem 3: Given scalars ξjl and ξir for the systems con-
T sidered in Theorems 1 and 2, if there exist scalars ζ1 , ζ2 and
+ GBi Fj (β̂Ωμ + I − Ωμ )x(k − 1) W μ matrices Pμ > 0, Rμ > 0, Wμ > 0, Fi satisfying the following
  matrix inequalities:
× (1 − β̂)(GAi + GBi Fj Ωμ ) − β̂G x(k)  
−ζ1 I ∗
 <0 (41)
+ GBi Fj (β̂Ωμ + I − Ωμ )x(k − 1) Φiμ −Λ
 
−ζ2 I ∗
+ β̂(1 − β̂)[GBi Fj Ωμ (x(k) − x(k − 1))]T <0 (42)
Θiμ −Υ
 μ [GBi Fj Ωμ (x(k) − x(k − 1))]
×W Γ̃iiμ < 0 (43)
2 2 T
+ 3mζ2 (1 − β̂) x (k − 1)x(k − 1) ξjl Γ̃ijμ + ξir Γ̃jiμ < 0, for i < j (44)

+ 3ζ2 (1 − β̂)2 2 xT (k)x(k) (37) with
⎡ ⎤
Γ̃11
ijμ ∗ ∗ ∗ ∗ ∗ ∗
in which the condition (33) is utilized. Note that ⎢ 21 ⎥
⎢ Γ̃ijμ − 13 Λ ∗ ∗ ∗ ∗ ∗ ⎥
E{ΔV2 (z(k), τ (k)) | z(k), τ (k)} ⎢ ⎥
⎢ Γ̃31 0 −Λ ∗ ∗ ∗ ∗ ⎥
⎢ ijμ ⎥
⎢ ⎥
= E{ΔV1 (z(k), τ (k))} − sT (k)Wμ s(k) Γ̃ijμ  ⎢ Γ̃41 0 0 −Σ ∗ ∗ ∗ ⎥
⎢ ijμ ⎥
⎢ Γ̃51 0 0 0 −Σ ∗ ∗ ⎥
 μ s(k + 1) | z(k), τ (k)}.
+ E{sT (k + 1)W (38) ⎢ ijμ ⎥
⎢ 61 ⎥
⎣ Γ̃ijμ 0 0 0 0 − 13 Υ ∗ ⎦
Utilizing (24), (25), (37) leads to
Γ̃71
ijμ 0 0 0 0 0 −Υ
⎡ 11 ⎤
E{ΔV2 (z(k), τ (k)) | z(k), τ (k)} M̄j · · · ∗
⎢ . .. ⎥

Mj  ⎢ ⎣ ..
..
. . ⎦
⎥
≤ m2i (x(k))z T (k)ξi (k)Γ̂iiμ z(k)
i=1 M̄j71 · · · M̄j77
 
 11 −Pμ−1 + 3ζ1 2 I ∗
Γ̃ijμ 
+ mi (x(k))mj (x(k))z T (k)[ξj (k)Γ̂ijμ 0 −Rμ + 3mζ1 2 I
i=1 j>i √ √ √
 Γ̃21
ijμ  [ πμ1 , πμ2 , . . ., πμn ]
T

+ ξi (k)Γ̂jiμ ]z(k) − sT (k)Wμ s(k)

1
  ⊗ Ai + Bi Fj Ωμ , Bi Fj (β̂Ωμ + I − Ωμ )
−3ζ2 (1 − β̂)2 2 mx(k − 1)2 + x(k)2 . (39) (1 − β̂)
√ √ √
Following the similar lines as in Theorem 1, we obtain Γ̃31
ijμ  [ πμ1 , πμ2 , . . ., πμn ]
T
⎡ ⎤
E{ΔV2 (z(k), τ (k)) | z(k), τ (k)} β̂ β̂
⊗⎣ Bi Fj Ωμ , − Bi Fj Ωμ ⎦
 2 1 − β̂ 1 − β̂
≤ z (k)
T
m2i (x(k)) il ξil Γ̂iiμ z(k) √ T
√ √
i=1 l=1 Γ̃41
ijμ  πμ1 R1 , πμ2 R2 , . . ., πμn Rn
 2 2
⊗ [(1 − β̂)Ωμ , − β̂(1 − β̂)Ωμ ]
+ z T (k) mi (x(k))mj (x(k)) ir jl
√ √ √
i=1 j>i l=1 r=1 Γ̃51
ijμ  [ πμ1 R1 , πμ2 R2 , . . ., πμn Rn ]T
  
× [ξjl Γ̂ijμ + ξir Γ̂jiμ ]z(k) − min λmin (Wμ )s(k)2 ⊗ β̂(1 − β̂)Ωμ , β̂Ωμ + I − Ωμ
μ
 √ √ √
2 2
 2 2
 Γ̃61
ijμ  [ πμ1 , πμ2 , . . ., πμn ] ⊗ [(1 − β̂)(GAi
T
− 3ζ2 (1 − β̂) mx(k − 1) + x(k) . (40)
+ GBi Fj Ωμ ) − β̂G, GBi Fj (β̂Ωμ + I − Ωμ )]

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ZHANG et al.: SECURITY SLIDING MODE CONTROL OF INTERVAL TYPE-2 FUZZY SYSTEMS SUBJECT TO CYBER ATTACKS 247

√ √ √  2 
Γ̃71
ijμ  [ πμ1 , πμ2 , . . ., πμn ]
T
Γ11 −Xμ + 3ζ1 I ∗
  ijμ  2 .
0 −Rμ + 3mζ1 I
⊗ β̂(1 − β̂)GBi Fj Ωμ , − β̂(1 − β̂)GBi Fj Ωμ
VII. SIMULATION
√
and Φiμ  [ πμ1 BiT , . . ., √πµn BiT ]T , Λ = diag{P1 , . . . , Pn }, In this part, two examples are presented to exemplify the
Θiμ  [√πµ1 BiT GT , . . . , √πµn BiT GT ]T , Υ = diag{W1 , . . . , theoretical results derived in this article.
Wn }, Σ = diag{R1 , . . ., Rn } for μ = 1, 2, . . . , n, i, j = Example 1: Consider a mass-spring-damper system as
1, 2, . . . , , l, r = 1, 2, then the closed-loop IT2 fuzzy system
mẍ(t) + Ff (t) + Fs (t) = u(t)
(17) is stochastically stable, meanwhile, the system states can
be forced into the sliding domain D. where x(t) and m stand for the displacement and the mass,
Proof: It is easily verified that condition (18) and (33) can respectively; Fs is the spring restoring force and Ff is the
be ensured by (41) and (42), respectively. In the sequel, we force of friction; u(t) denotes the control input. Let Ff = cẋ(t)
need only prove that conditions (19)–(20), (34)–(35) can be and Fs = κ̄(1 + a2 x2 (t))x(t), where c > 0 is the friction coef-
guaranteed by (43)–(44). ficient, the elasticity coefficient κ̄ is an uncertain parameter and
Let Pμ = Pμ−1 , Wμ = Wμ−1 . By Schur complementary, we a is a auxiliary variable. Then, we have
have from (43)–(44) that inequalities (34)–(35) hold. Noting
that mẍ(t) + cẋ(t) + κ̄x(t) + κ̄a2 x2 (t)x(t) = u(t) (49)

(34) ⇒ which could be represented as

     
0 1 0
[(1 − β̂)(GAi + GBi Fi Ωμ ) − β̂G]T μ ẋ(t) = x(t) + u(t)
ξil Γiiμ + 3W −c
f (κ̄, t) m 1
(β̂(1 − β̂)GBi Fi Ωμ )T m

× [(1 − β̂)(GAi + GBi Fi Ωμ ) − β̂G with x(t)  [x1 (t) x2 (t)]T with x1 (t)  x(t), x2 (t)  ẋ(t),
−κ̄−κ̄a2 x21 (t)
and f (κ̄, t) = m .
β̂(1 − β̂)GBi Fi Ωμ ] < 0 Let a = 0.3 m−1 , m = 1 kg, c = 2 N.m/s. Assume that
x1 (t) ∈ [−2, 2], x2 (t) ∈ [−10, 10] and κ̄ ∈ [κ̄1 , κ̄2 ] with κ̄1 =
we have Γiiμ < 0 as W  μ > 0, that is, (19) holds. By following
5 N/m, κ̄2 = 8 N/m. Then, we can obtain that f (κ̄, t) ∈
similar derivation process to the one from (34) to (19), we can [fmin , fmax ] with fmax = −κ̄ −κ̄2 −4κ̄2 a2
m , fmin =
1
, where fmax
ensure (20) by (35).  and fmin are the maximum and minimum value of f (κ̄, t),
m

It is noted that the conditions (41)–(44) are nonlinear due respectively. As analyzed in Section III, the lower MFs are
to the coexistence of variables Pμ and Pμ−1 . In the sequel, we required to be larger than 0, which can be achieved via the
employ cone complementary algorithm (CCL) algorithm [47] to method proposed in [32] by enlarging the operating domain
handle these nonlinearities via solving the following minimiza- of f (κ̄, t). Recalling that f (κ̄, t) ∈ [fmin , fmax ], we consider
tion problem: f (κ̄, t) ∈ [fˇmin , fˇmax ] with fˇmin = fmin − σ, fˇmax = fmax +
n σ, and σ = 0.02.
min tr Pμ X μ (45) According to the sector nonlinearity T–S fuzzy modeling
μ=1 approach [48], the MFs can be calculated as m1 (x1 (t)) =
−f (κ̄,t)+fˇmax fˇmin
subject to the inequalities (41), (42), and fˇmax −fˇmin
, m2 (x1 (t)) = ffˇ(κ̄,t)− ˇ . The lower and upper
max −fmin
MFs can be given by
Γiiμ < 0 (46)
−f (κ̄1 , t) + fˇmax
ξjl Γijμ + ξir Γjiμ < 0 m1 (x1 (t)) = , x1 (t) ∈ [−2, 2]
(47) fˇmax − fˇmin
 
Xμ I
≥0 (48) −f (κ̄2 , t) + fˇmax
I Pμ m̄1 (x1 (t)) = , x1 (t) ∈ [−2, 2]
fˇmax − fˇmin
with f (κ̄2 , t) − fˇmin
⎡ ⎤ m2 (x1 (t)) = , x1 (t) ∈ [−2, 2]
Γ11
ijμ ∗ ∗ ∗ ∗ ∗ ∗ fˇmax − fˇmin
⎢ 21 ⎥
⎢ Γ̃ijμ − 13 Λ ∗ ∗ ∗ ∗ ∗ ⎥ f (κ̄1 , t) − fˇmin
⎢ 31 ⎥ m̄2 (x1 (t)) = , x1 (t) ∈ [−2, 2].
⎢ Γ̃ijμ 0 −Λ ∗ ∗ ∗ ∗ ⎥ fˇmax − fˇmin
⎢ ⎥
⎢ 41 ⎥
Γijμ ⎢ Γ̃ijμ 0 0 −Σ ∗ ∗ ∗ ⎥
It is easily checked that mi (x1 (t)) > 0, i = 1, 2.
 ⎢ 51 ⎥
⎢ Γ̃ijμ 0 0 0 −Σ ∗ ∗ ⎥
⎢ ⎥ Name the fuzzy sets “Small” and “Big”. Thus, we construct
⎢ Γ̃61 0 0 0 0 − 13 Υ ∗ ⎥
⎢ ijμ ⎥ the following fuzzy rules:
⎢ 71 ⎥ Rule 1: If f (κ̄, t) is “Small,” then
⎣ Γ̃ijμ 0 0 0 0 0 −Υ ⎦
ẋ(t) = A1 x(t) + B1 u(t)

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248 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 29, NO. 2, FEBRUARY 2021

Fig. 2. Scheduling signal τ (k). Fig. 3. State variable x(k) with different κ̄.

Rule 2: If f (κ̄, t) is “Big,” then

ẋ(t) = A2 x(t) + B2 u(t)

where
   
0 1 0 1
A1 = ˇ , A2 =
fmin −c
m fˇmax −c
m
 
0
B1 = B2 = 1 .
m

By discretizing the above matrices with sampling period 0.05 s,

we have
    Control signal u(k) with different κ̄.
0.9868 0.0474 0.0012 Fig. 4.
A1 = , B1 = B2 =
−0.5163 0.8921 0.0474
 
0.9940 0.0475 controller can always stabilize the nonlinear system (49) with
A2 = .
−0.2365 0.8990 uncertain parameter κ̄.
Example 2: Consider the IT2 fuzzy model (5) with three
Then, the nonlinear system (49) with disturbance d(k, x(k)) = rules and the following parameters:
2x1 (k)x2 (k) ( = 0.2) can be expressed by the following    
2-rule IT2 T–S fuzzy model: 0.1 0 −1
A1 = , B1 =
0.1 −0.1 1
2
   
x(k + 1) = mi (x1 (k))[Ai x(k) + Bi (u(k) + d(k, x(k)))] 0.1 0 1
A2 = , B2 =
i=1 −0.1 0.1 −1
   
with m1 (x1 (k)) = 0.6m1 (x1 (k)) + 0.4m̄1 (x1 (k)) and 1 1 1
m2 (x1 (k)) = 1 − m1 (x1 (k)). A3 = , B3 = .
−0.3 0.8 1
The MFs of the SMC law are given as h1 (x1 (k)) =
0.5m1 (x1 (k)) + 0.5m̄1 (x1 (k)), h2 (x1 (k)) = 1 − h1 (x1 (k)). Select the MFS in the system model (6) and the controller (12)
By calculation, the parameters in the minimization problem as m1 (x1 (k)) = (1 − sin2 (x1 (k)))m1 (x1 (k)) + sin2 (x1 (k))
(45) are given as ξ11 = 0.4403, ξ12 = 3.1639, ξ21 = 0.4383, m̄1 (x1 (k)), m2 (x1 (k)) = 0.4m2 (x1 (k)) + 0.6m̄2 (x1 (k)), m3
and ξ22 = 1.7828. (x1 (k)) = 1 − m1 (x1 (k)) − m2 (x1 (k)), h1 (x1 (k)) = 0.2m1
Suppose that the attack probability β̂ = 0.3, the transition (x1 (k)) + 0.8m̄1 (x1 (k)), h2 (x1 (k)) = cos2 (x1 (k))m2 (x1
probabilities π11 = 0.4, π12 = 0.6, π21 = 0.7, π22 = 0.3, and (k)) + (1 − cos2 (x1 (k)))m̄2 (x1 (k))h3 (x1 (k)) = 1 − h1 (x1
the sliding gain G = [1, −10]. Then, by solving the minimiza- (k)) − h2 (x1 (k)) with m1 (x1 (k)) = 1 − 1+e−(2x11 (k)+5) , m̄1 (x1
tion problem (45), the corresponding matrices can be computed (k)) = 1 − 1+e−(2x11 (k)+3) , m2 (x1 (k)) = 1+e−(2x11 (k)−5) , m̄2 (x1
as F1 = [ −9.6880 −3.0904 ], F2 = [ 4.4615 −2.9336 ]. (k)) = 1+e−(2x11 (k)−3) , x1 (k) ∈ [−1, 1]. Then, the parameters in
The simulation results are shown in Figs. 3 and 4 for initial the minimization problem (45) are calculated as ξ11 = 0.0271,
states x(0) = [2 − 1.5]T with the scheduling signal τ (k) in ξ12 = 40.1606, ξ21 = 0.11, ξ22 = 46.6367, ξ31 = 0.7969,
Fig. 2. It is shown from Figs. 3 and 4 that the proposed fuzzy ξ22 = 1.2144.

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ZHANG et al.: SECURITY SLIDING MODE CONTROL OF INTERVAL TYPE-2 FUZZY SYSTEMS SUBJECT TO CYBER ATTACKS
Fig. 5. State evolutions of open-loop case.
Fig. 6. State evolutions with different β̂.
Fig. 7. Control signal u(k) with different β̂.
Suppose that the attack probability β̂ = 0.1, the tran-
sition probabilities matrix ( 0.5 0.5
0.4 0.6 ) and the sliding ma-
trix G = [1, 2]. By solving the minimization problem (45),
we obtain the control gains F1 = [ 0.0228 −0.0980 ], F2 =
[ −0.0512 −0.2100 ], F3 = [ −0.0472 −0.1811 ].
In the simulation, the initial conditions are set as x(0) =
[1 − 1]T and the disturbance is d(k, x(k)) = (x21 (k) + x22 (k))
with = 0.02. Fig. 5 shows the state trajectories of the open-
loop case with attack probability β̂ = 0.1. Figs. 6 and 7 show the
system states x(k) and the control signal u(k) of the closed-loop
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249
TABLE I
VALUES OF INITIAL STATES
TABLE II
TRANSITION PROBABILITY MATRICES
Fig. 8. Case 1 in Table I.
Fig. 9. Case 2 in Table I.
case with attack probabilities β̂ = 0.1 and β̂ = 0.3. The control
performance will degrade even become unstable when the prob-
abilities exceed 0.4. It is observed from Figs. 6 and 7 that the
convergence speed of the closed-loop system will slow down
with the increasing of attack probability, which may be due to
the reduction of useful information for the controller. Besides,
to illustrate the effect of initial states x(0) and scheduling
signal τ (k) on control performance, we consider different initial
values and transition probability matrices as in Tables I and II,
respectively. Figs. 8 and 9 plot x(k) and u(k) for Cases 1 and 2 in
Table I with attack probability β̂ = 0.1 and transition probability
matrix ( 0.5 0.5
0.4 0.6 ). The evolutions of x(k) and u(k) for Cases a and
b in Table II with attack probability β̂ = 0.1 and initial states
x(0) = [1 − 1]T are shown in Figs. 10 and 11. It is observed
250
Fig. 10. Case a in Table II.
Fig. 11. Case b in Table II.
that the proposed SMC law can always stabilize the controlled
system.
VIII. CONCLUSION
This article studied the synthesizing problem of sliding mode
control for a class of IT2 T–S fuzzy systems under the SCP
scheduling and DoS attacks. The relations between the MFs of
the fuzzy SMC law and those of the fuzzy model were explicitly
analyzed. By considering the effect of DoS attacks and the SCP
scheduling, a desirable sliding mode controller with the token-
independent control gains were designed so that the stochastic
stability of the resultant closed-loop system and the reachability
of the prescribed sliding surface can be guaranteed. Furthermore,
the control method in this article can be also generalized to the
case subject to weighted try-once-discard (WTOD) protocol.
However, for the case with RR protocol, a token-dependent
control law is implementable, since the scheduling signal are
predefined according to a circular order.
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251
Zhina Zhang received the B.S. degree in mathemat-
ics and applied mathematics from Anyang Normal
University, Anyang, China, in 2009, and received
the M.S. degree in operational research and cyber-
netics from Hangzhou Dianzi University, Hangzhou,
China, in 2012. She is now working toward the Ph.D.
degree in control science and engineering with the
East China University of Science and Technology,
Shanghai, China.
From August 2018 to September 2019, she was a
Research Assistant with the Department of Electrical
Engineering, Taiwan University of Science and Technology. Her current research
interests are T–S fuzzy system and sliding mode control.
Yugang Niu received the M.Sc. and Ph.D. degrees
in control engineering from the Nanjing University
of Science and Technology, Nanjing, China, in 1992
and 2001, respectively.
In 2003, he joined the School of Information Sci-
ence and Engineering, East China University of Sci-
ence and Technology, Shanghai, China, where he is
currently a Professor. In 2019, he also joined the
Shanghai Institute of Intelligent Science and Tech-
nology, Tongji University, Shanghai. His current re-
search interests include stochastic systems, sliding
mode control, Markovian jump systems, networked control systems, wireless
sensor networks, and smart grid.
Prof. Niu is a member of the Conference Editorial Board of IEEE Control
Systems Society. He is currently an Associate Editor for several international
journals, including Information Sciences, Neurocomputing, IET Control Theory
& Applications, Journal of The Franklin Institute, and International Journal of
System Sciences.
Zhiru Cao received the B.S. degree in building elec-
tricity and intelligence from Nanjing Tech University,
Nanjing, China, in 2016. She is currently working
toward the Ph.D. degree in control science and en-
gineering with East China University of Science and
Technology, Shanghai, China.
From November 2018 to February 2019, she was a
Research Assistant with the Department of Mechan-
ical Engineering, University of Hong Kong, Hong
Kong. She is now a Visiting Ph.D. Student with the
Department of Electronic and Computer Engineering,
Brunel University London, Uxbridge, U.K. Her current research interests include
Markovian jump systems, sliding mode control, and finite-time control.
Jun Song (Member, IEEE) received the B.E. degree
in electronic science and technology and the M.E.
degree in pattern recognition and intelligent system
from Anhui University, Hefei, China, in 2011 and
2014, respectively, and the Ph.D. degree in control
science and engineering from the East China Univer-
sity of Science and Technology, Shanghai, China, in
2018.
He is currently an Associate Professor with the East
China University of Science and Technology. From
October 2016 to October 2017, he was a Visiting
Ph.D. Student with the Department of Computer Science, Brunel University
London, Uxbridge, U.K. He was also a Research Assistant or Research Fellow
with The University of Hong Kong, City University of Hong Kong and Western
Sydney University, Sydney, NSW, Australia. His current research interests
including Markovian jump systems and optimal control, stochastic systems,
finite-time stability, and sliding mode control.
Dr. Song is a Member of Chinese Association of Automation (CAA).