Summer 2019

Wed, Aug 14th 2019, 2:00PM, Venue: Hamerschlag D210
Raffaele Romagnoli, CMU

Title: Ensuring Safety Conditions for Cyberberphysical Systems with Software Rejuvenation

Abstract: Software rejuvenation protects cyber-physical systems (CSPs) against cyber attacks on the run-time code by periodically refreshing the system with an uncorrupted software image. The system is vulnerable to attacks when it is communicating with other agents. Security is guaranteed during the software refresh and re-initialization by turning off all communication. Although the effectiveness of software rejuvenation has been demonstrated for some simple systems, many problems need to be addressed to make it viable for real applications. This work expands the scope of CPS applications for which software rejuvenation can be implemented by introducing architectural and algorithmic features to support trajectory tracking. Following each software refresh, while communication is still off, a safety controller is executed to assure the system state is within a sufficiently small neighborhood of the current point on the reference trajectory. Communication is then re-established and the reference trajectory tracking control is resumed. Using Lyapunov theory and invariant sets, we are able to provide the general conditions that guarantee the safety and liveness of the proposed secure tracking control scheme based on software rejuvenation for nonlinear and linear systems. Finally, we present the approach to design the tracking and safety controllers and timing parameters and demonstrate the secure tracking control for a 6 DOF quadrotor using PX4 controller and jMAVSim quadrotor simulator.

Bio: Raffaele Romagnoli completed his Master Engineering degree in Industrial Automation Engineering from the Universitá Politecnica delle Marche (UNIVPM), Italy in 2011. In 2015 he received his Ph.D. in Control System and Automation specialized in Optimal and Robust Control System Theory at the same institute. At the same time he was a postdoctoral researcher in the Department of Control Engineering and System Analysis (SAAS) at the Universitè libre de Bruxelles (ULB), Belgium. Currently he is a postdoctoral researcher in the Department of Electrical and Computer Engineering at Carnegie Mellon University, PA, USA. He is currently working on secure control of cyberphysical systems and the control of systems subject to software rejuvenation. Other research interests are: model stable inversion, output tracking problems, reference governor, set-theoretic control, optimal and robust control, control of Li-ion battery cell, space applications in micro-gravity conditions.