A Comprehensive Survey on Cyber-physical System Security in the Internet of Things (IoT): Addressing and Solutions

Background: Cyber-Physical Systems (CPSs) integrate computing, control, and communication technologies, bridging cyberspace and the physical world to enhance critical infrastructure and safety-critical systems. Existing surveys often address CPS security from a single perspective, necessitating a more comprehensive approach. Methods: This paper presents a thorough review of CPS security from three perspectives: the physical domain, the cyber domain, and the cyber-physical domain. We examine attacks on physical components like sensors, cyber-attacks targeting CPSs, and integrated cyber-physical attacks. For each domain, we analyse corresponding detection and defence mechanisms. Results: Our review reveals that CPSs face significant security threats across all domains. In the physical domain, attacks on sensors can disrupt system operations, but various defences are available. In the cyber domain, CPSs are vulnerable to malware, hacking, and denial-of-service attacks, with several detection and defence strategies in place. The cyber-physical domain highlights complex threats where cyber-attacks cause physical damage, requiring comprehensive security approaches. Conclusion: By examining CPS security from multiple perspectives, this review provides a holistic understanding of current threats and defence mechanisms. It identifies future research directions to enhance CPS security, aiming to better protect critical infrastructure against evolving cyber threats.