Adaptive Sliding Mode Security Control for Rotary Inverted Pendulum Against Randomly Occurring False Data Injection Attacks

This paper investigates the adaptive sliding mode security control (ASMSC) problem of rotary inverted pendulum against randomly occurring false data injection attacks (ROFDIAs). To accomplish the control objectives for both swing-up and stabilization stages, this study proposes an adaptive backstepping nonlinear control method and an ASMSC method, respectively. These approaches distinctly differ from conventional strategies such as energy-based swing-up control methods, linear quadratic regulators, or adaptive sliding mode control techniques. Besides, note that the existing control methods are proposed in the normal network environment, once the network is malicious attacks, these methods will be invalid. Based on this, a novel ASMSC method is proposed of rotating inverted pendulum against ROFDIAs. Meanwhile, the validity of the proposed method is proved by two comparative experiments on the hardware-in-the-loop simulation platform.