This paper is concerned with cyber attack detection in a networked control system. A novel cyber attack detection method, which consists of two steps: 1) a prediction step and 2) a measurement update step, is developed. An estimation ellipsoid set is calculated through updating the prediction ellipsoid set with the current sensor measurement data. Based on the intersection between these two ellipsoid sets, two criteria are provided to detect cyber attacks injecting malicious signals into physical components (i.e., sensors and actuators) or into a communication network through which information among physical components is transmitted. There exists a cyber attack on sensors or a network exchanging data between sensors and controllers if there is no intersection between the prediction set and the estimation set updated at the current time instant. Actuators or network transmitting data between controllers and actuators are under a cyber attack if the prediction set has no intersection with the estimation set updated at the previous time instant. Recursive algorithms for the calculation of the two ellipsoid sets and for the attack detection on physical components and the communication network are proposed. Simulation results for two types of cyber attacks, namely a replay attack and a bias injection attack, are provided to demonstrate the effectiveness of the proposed method.

An integrated vehicle dynamics control (IVDC) algorithm, developed for improving vehicle handling and stability under critical lateral motions, is discussed in this paper. The IVDC system utilises integral and nonsingular fast terminal sliding mode (NFTSM) control strategies and coordinates active front steering (AFS) and direct yaw moment control (DYC) systems. When the vehicle is in the normal driving situation, the AFS system provides handling enhancement. If the vehicle reaches its handling limit, both AFS and DYC are then integrated to ensure the vehicle stability. The major contribution of this paper is in improving the transient response of the vehicle yaw rate and sideslip angle tracking controllers by implementing advanced types of sliding mode strategies, namely integral terminal sliding mode and NFTSM, in the IVDC system. Simulation results demonstrate that the developed control algorithm for the IVDC system not only has strong robustness against uncertainties but also improves the transient response of the control system.

A number of people participated in different stages of the design and development of the ICSL Cooperative Mobile Robots and/or assisted in deploying the ICSL's hardware/software solutions and testing the ICSL cooperative autonomous driving concept on experimental vehicles. Both Michel Parent and Tony Noël from INRIA and Mark Hitchings and Wayne Seeto from the ICSL gave invaluable assistance in testing and deploying the ICSL hardware and software on the demonstration vehicles during the experimentation phase at INRIA, France. The design and development of the ICSL cooperative mobile robots were assisted at various stages by

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This paper argues the case for emulation-based virtual laboratories in control engineering education. It demonstrates that such emulation experiments can give students an industrially-relevant educational experience at relatively low cost. The paper also describes a particular emulation-based system that has been developed with the aim of giving students an introduction to real world control engineering design.