Cyber-physical systems (CPS) have experienced rapid growth in recent decades. However, like any other computer-based systems, malicious attacks evolve mutually, driving CPS to undesirable physical states and potentially causing catastrophes. Although the current state-of-the-art is well aware of this issue, the majority of researchers have not focused on CPS recovery, the procedure we defined as restoring a CPS’s physical state back to a target condition under adversarial attacks. To call for attention on CPS recovery and identify existing efforts, we have surveyed a total of 30 relevant papers. We identify a major partition of the proposed recovery strategies: shallow recovery vs. deep recovery, where the former does not use a dedicated recovery controller while the latter does. Additionally, we surveyed exploratory research on topics that facilitate recovery. From these publications, we discuss the current state-of-the-art of CPS recovery, with respect to applications, attack type, attack surfaces and system dynamics. Then, we identify untouched sub-domains in this field and suggest possible future directions for researchers.

近几十年来，网络物理系统（CPS）经历了快速发展。然而，与任何其他基于计算机的系统一样，恶意攻击会相互演化，导致 CPS 出现不良的物理状态，并可能导致灾难。尽管当前最先进的技术已经充分意识到这个问题，但大多数研究人员并没有关注 CPS 恢复，我们定义的过程是在对抗性攻击下将 CPS 的物理状态恢复到目标状态。为了引起人们对 CPS 恢复的关注并确定现有的努力，我们总共调查了 30 篇相关论文。我们确定了所提出的恢复策略的一个主要部分：浅层恢复与深度恢复，其中前者不使用专用恢复控制器，而后者则使用。此外，我们还调查了有关促进康复的主题的探索性研究。从这些出版物中，我们讨论了当前 CPS 恢复的最新技术，涉及应用程序、攻击类型、攻击面和系统动态。然后，我们确定该领域未触及的子领域，并为研究人员建议未来可能的方向。