Software rejuvenation under persistent attacks in constrained environments

Software rejuvenation has been proposed to guarantee safety of cyber-physical systems (CPSs) against cyber-attacks. Recent work has demonstrated how this method can be applied to more general control problems such as tracking control. Despite this progress, there are still limitations in applying software rejuvenation to real situations where the presence of persistent attacks and physical environment constraints exist. In this paper we address these issues and propose a secure recovery algorithm that can be deployed not only for recovery against persistent attacks but also in situations where physical environment constraints do not allow the system to tolerate any attack. The effectiveness of the approach is illustrated with a simulation of a quadrotor landing on the ground during recovery from a persistent attack.