Malleability-Resistant Encrypted Control System with Disturbance Compensation and Real-Time Attack Detection
Naoki Aizawa, Keita Emura, and Kiminao Kogiso

TL;DR
This paper introduces a malleability-resistant encrypted PID control system with disturbance compensation and real-time attack detection, demonstrating improved performance and security in industrial control experiments.
Contribution
It presents a novel KHE-based encrypted DOB-PID controller that enhances control accuracy and detects malleability-based attacks in real-time.
Findings
Outperforms conventional encrypted PID in tracking accuracy
Successfully detects destabilizing and degrading attacks
Validates effectiveness through industrial stage experiments
Abstract
This study proposes an encrypted PID control system with a disturbance observer (DOB) using a keyed-homomorphic encryption (KHE) scheme, aiming to achieve control performance while providing resistance to malleability-based attacks. The controller integrates a DOB with a PID structure to compensate for modeling uncertainties by estimating and canceling external disturbances. To enhance security, the system is designed to output error symbols when ciphertexts are falsified during decryption or evaluation, enabling real-time detection of malleability-based signal or parameter falsification. To validate the proposed method, we conduct stage positioning control experiments and attack detection tests using an industrial linear stage. The results show that the encrypted DOB-based PID controller outperforms a conventional encrypted PID controller in terms of tracking accuracy. Furthermore, the…
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