An intermediate and robust observer is presented in this article to robustly estimate secure state and reconstruct actuator attack for continuous-time/discrete-time cyber-physical system. First, we propose a general form of cyber-physical system under actuator attack and external disturbance, and then some assumptions are stated in order to facilitate further research. Second, a novel intermediate and robust observer is designed, based on which an augmented error equation is deduced, necessary and sufficient conditions for continuous-time/discrete-time cyber-physical system to obtain gain matrices are derived separately. Third, strict linear matrix inequality conditions are deduced by transforming the original problem into convex optimization problem. Finally, we conduct two simulation experiments with continuous-time and discrete-time unmanned ground vehicle model to show the effectiveness of the proposed secure state estimation and attack reconstruction approach.

本文介绍了一个中级且健壮的观察者，可以为连续时间/离散时间的网络物理系统鲁棒地估计安全状态并重构执行器攻击。首先，我们提出了一种在执行器攻击和外部干扰下的网络物理系统的一般形式，然后陈述了一些假设，以促进进一步的研究。其次，设计了一种新颖的中间鲁棒观测器，在此基础上推导了一个增大的误差方程，分别导出了连续时间/离散时间电子物理系统获得增益矩阵的必要条件和充分条件。第三，通过将原始问题转化为凸优化问题，得出严格的线性矩阵不等式条件。最后，