Static Output Feedback Control for CPSs With Input Delay and Sparse Sensor Attacks

A static output feedback controller is designed in this article for a class of cyber-physical systems with time-varying input delay and sparse sensor attacks. First, a Luenberger-like observer is devised utilizing projection operators, capable of estimating both system states and attacks. Given the lag in estimated states, a method of static output feedback control, based on the estimated attacks, is then proposed. Subsequently, a Lyapunov–Krasovskii functional is employed to prove that both the controlled system and the error system are Lyapunov stable, ensuring that the states and estimation errors converge to a steady-state residual that is solely related to noises. Furthermore, an algorithm is constructed to solve the observer gains and controller gain simultaneously. In addition, the proposed control method remains applicable to the case without input delay, while it also extends and improves upon some recent results. Finally, examples are given to demonstrate the effectiveness and advantages of the proposed method.