Skip to main content

Part of the book series: Power Systems ((POWSYS))

Abstract

Power systems are traditionallymonitored and controlled by an IT infrastructure, referred to as Supervisory Control and Data Acquisition (SCADA) system. The cyber-physical interaction of power systems (physical) and SCADA systems (cyber) rises security issues, since the links between those systems are vulnerable to cyber-attacks that can potentially lead to catastrophic economical and societal effects. In this chapter we focus on a specific cyber-physical link, the Automatic Generation Control (AGC), which is an automatic frequency control loop closed over the SCADA system. We provide an impact analysis in case of a cyber-attack on the AGC signal. We first carry out a feasibility analysis based on reachability and optimal control theory, that provides an information regarding the existence of an attack pattern that can disturb the power system. We then deal with the problem of synthesizing an attack signal and treat it as a nonlinear control synthesis problem. Third, performance of our methodologies are illustrated by means of dynamic simulations on IEEE-118 bus network.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Andersson, G., Donalek, P., Farmer, R., Hatziargyriou, N., Kamwa, I., Kundur, P., Martins, N., Paserba, J., Pourbeik, P., Sanchez-Gasca, J., Schulz, R., Stankovic, A., Taylor, C., Vittal, V.: Causes of the 2003 Major Grid Blackouts in North America and Europe, and Recommended Means to Improve System Dynamic Performance. IEEE Transactions on Power Systems 20(4), 1922–1928 (2005)

    Article  Google Scholar 

  2. Zima, M., Bockarjova, M.: Operation, Monitoring and Control Technology of Power Systems. Lecture Notes, ETH Zurich (2007)

    Google Scholar 

  3. Khaitan, S., McCalley, J.: Cyber physical system approach for design of power grids: A survey. In: IEEE PES GM 2013, July 21-15, pp. 1–5 (2013)

    Google Scholar 

  4. Khaitan, S., McCalley, J.: Design techniques and applications of cyber physical systems: A survey. IEEE Systems Journal PP, 1–16 (2014)

    Article  Google Scholar 

  5. Kirschen, D., Bouffard, F.: Keep the Lights On and the Information Flowing. IEEE Power and Energy Magazine 7(1), 50–60 (2009)

    Article  Google Scholar 

  6. Teixeira, A., Amin, S., Sandberg, H., Johansson, K., Sastry, S.: Cyber security analysis of state estimators in electric power systems. In: 2010 49th IEEE Conference on Decision and Control (CDC), pp. 5991–5998 (December 2010)

    Google Scholar 

  7. Vukovic, O., Sou, K.C., Dan, G., Sandberg, H.: Network-aware mitigation of data integrity attacks on power system state estimation. IEEE Journal on Selected Areas in Communications 30(6), 1108–1118 (2012)

    Article  Google Scholar 

  8. Hug, G., Giampapa, J.: Vulnerability assessment of ac state estimation with respect to data injection cyber-attacks. IEEE Transactions on Smart Grid (2012)

    Google Scholar 

  9. Negrete-Pincetic, M., Yoshida, F., Gross, G.: Towards Quantifying the Impacts of Cyber Attacks in the Competitive Electricity Market Environment. In: IEEE Power Tech Conference (2009)

    Google Scholar 

  10. Forbes, Congress Alarmed at Cyber-Vulnerability of Power Grid, http://www.forbes.com/2008/05/22/cyberwar-breach-government-tech-security_cx_ag_0521cyber.html

  11. CNN, Sources: Staged cyber attack reveals vulnerability in power grid, http://www.cnn.com/2007//US/09/26/power.at.risk/index.html

  12. Comptuterworld, DHS to review report on vulnerability in West Coast power grid, http://www.computerworld.com/s/article/9138017

  13. Wang, J.-W., Ronga, L.-L.: Cascade-based attack vulnerability on the US power grid. Elsevier, Safety science 47(10), 1332–1336 (2009)

    Article  Google Scholar 

  14. VIKING Project, http://www.vikingproject.eu

  15. Vulnerability assessment of scada systems. Deliverable D3.1, VIKING project (2011)

    Google Scholar 

  16. Impact analysis of adverse events. Deliverable D3.2, VIKING project (2011)

    Google Scholar 

  17. Consequence and cost analysis of scada system vulnerabilities. Deliverable D3.3, VIKING project (2011)

    Google Scholar 

  18. Mitigation and protection strategies. Deliverable D4.3, VIKING project (2011)

    Google Scholar 

  19. Mohajerin Esfahani, P., Vrakopoulou, M., Margellos, K., Lygeros, J., Andersson, G.: Cyber attack in a two-area power system: Impact identification using reachability. In: American Control Conference, pp. 962–967 (2010)

    Google Scholar 

  20. Mohajerin Esfahani, P., Vrakopoulou, M., Margellos, K., Lygeros, J., Andersson, G.: A robust policy for automatic generation control cyber attack in two area power network. In: 49th IEEE Conference Decision and Control, pp. 5973–5978 (2010)

    Google Scholar 

  21. Lygeros, J.: On reachability and minimum cost optimal control. Automatica 40(6), 917–927 (1999)

    Article  MathSciNet  Google Scholar 

  22. Mitchell, I., Bayen, A.M., Tomlin, C.: A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games. IEEE transactions on Automatic Control 50

    Google Scholar 

  23. Lecchini-Visintini, A., Lygeros, J., Maciejowski, J.: Stochastic optimization on continuous domains with finite-time guarantees by markov chain monte carlo methods. IEEE Transactions on Automatic Control 55(12), 2858–2863 (2010)

    Article  MathSciNet  Google Scholar 

  24. Robert, C., Casella, G.: Monto Carlo Statistical Methods. Springer

    Google Scholar 

  25. Sastry, S.: Nonlinear systems: analysis, stability and control. Springer, New York (1999)

    Book  MATH  Google Scholar 

  26. Khalil, H.: Nonlinear Systems, 3rd edn. Prentice-Hall, NJ (2002)

    MATH  Google Scholar 

  27. Kundur, P.: Power System Stability and Control. McGraw-Hill (1993)

    Google Scholar 

  28. Andersson, G.: Dynamics and Control of Electric Power Systems. ETH ZĂĽrich (2009)

    Google Scholar 

  29. Franklin, G.F., Powell, J.D., Emami-Naeini, A.: Feedback Control of Dynamic Systems. Prentice Hall (2002)

    Google Scholar 

  30. Kundur, P.: Power System Stability and Control. McGraw-Hill Inc. (1994)

    Google Scholar 

  31. Mitchell, I.: Application of level set methods to control and reachability problems in continuous and hybrid systems. Stanford University, PhD thesis (2002)

    Google Scholar 

  32. Panagou, A.: Cyber-security issues in the Automatic Generation Control. Semester thesis, Power System Laboratory, ETH Zurich, Switzerland (2013)

    Google Scholar 

  33. Demiray, T.: Simulation of Power System Dynamics using Dynamic Phasor Models. PhD thesis, Diss. ETH No.17607, ETH Zurich, Switzerland (2008)

    Google Scholar 

  34. Power Systems Test Case Archive. College of Engineering, University of Washington, http://www.ee.washington.edu/research/pstca/

  35. Anderson, P.M., Fouad, A.A.: Power System Control and Stability. IEEE Computer Society Press (2002)

    Google Scholar 

  36. Mohajerin Esfahani, P., Vrakopoulou, M., Andersson, G., Lygeros, J.: A tractable nonlinear fault detection and isolation technique with application to the cyber-physical security of power systems. In: 2012 IEEE 51st Annual Conference on Decision and Control (CDC), pp. 3433–3438 (December 2012)

    Google Scholar 

  37. Mohajerin Esfahani, P., Lygeros, J.: A tractable fault detection and isolation approach for nonlinear systems with probabilistic performance. IEEE Transaction of Automatic Control (TAC) (conditionally accepted, November 2014), http://arxiv.org/abs/1408.1767

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Maria Vrakopoulou .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Vrakopoulou, M., Esfahani, P.M., Margellos, K., Lygeros, J., Andersson, G. (2015). Cyber-Attacks in the Automatic Generation Control. In: Khaitan, S., McCalley, J., Liu, C. (eds) Cyber Physical Systems Approach to Smart Electric Power Grid. Power Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-45928-7_11

Download citation

  • DOI: https://doi.org/10.1007/978-3-662-45928-7_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-45927-0

  • Online ISBN: 978-3-662-45928-7

  • eBook Packages: EnergyEnergy (R0)

Publish with us

Policies and ethics