Typically, Cyber-Physical Systems (CPS) involve various interconnected systems, which can monitor and manipulate real objects and processes. They are closely related to Internet of Things (IoT) systems, except that CPS focuses on the interaction between physical, networking and computation processes. Their integration with IoT led to a new CPS aspect, the Internet of Cyber-Physical Things (IoCPT). The fast and significant evolution of CPS affects various aspects in people’s way of life and enables a wider range of services and applications including e-Health, smart homes, e-Commerce, etc. However, interconnecting the cyber and physical worlds gives rise to new dangerous security challenges. Consequently, CPS security has attracted the attention of both researchers and industries. This paper surveys the main aspects of CPS and the corresponding applications, technologies, and standards. Moreover, CPS security vulnerabilities, threats and attacks are reviewed, while the key issues and challenges are identified. Additionally, the existing security measures are presented and analyzed while identifying their main limitations. Finally, several suggestions and recommendations are proposed benefiting from the lessons learned throughout this comprehensive review.

通常，网络物理系统（CPS）涉及各种相互连接的系统，这些系统可以监视和操纵实际的对象和过程。它们与物联网（IoT）系统密切相关，但CPS专注于物理，网络和计算过程之间的交互。他们与IoT的集成带来了CPS的一个新方面，即网络物理物联网（IoCPT）。CPS的快速而重要的发展影响着人们生活方式的各个方面，并实现了包括电子医疗，智能家居，电子商务等在内的更广泛的服务和应用。然而，将网络世界与物理世界互连起来，产生了新的机遇。危险的安全挑战。因此，CPS安全引起了研究人员和行业的关注。本文概述了CPS的主要方面以及相应的应用程序，技术和标准。此外，还审查了CPS安全漏洞，威胁和攻击，同时确定了关键问题和挑战。此外，在确定现有安全措施的主要局限性的同时，还会对其进行分析。最后，从这次全面回顾中汲取的教训，提出了一些建议。