Secure State Estimation for Cyber-Physical Systems Under Sensor Attacks: A Satisfiability Modulo Theory Approach

Secure state estimation is the problem of estimating the state of a dynamical system from a set of noisy and adversarially corrupted measurements. Intrinsically a combinatorial problem, secure state estimation has been traditionally addressed either by brute force search, suffering from scalability issues, or via convex relaxations, using algorithms that can terminate in polynomial time but are not necessarily sound. In this paper, we present a...