Cyber-physical systems are found in industrial and production systems, as well as critical infrastructures. Due to the increasing integration of IP-based technology and standard computing devices, the threat of cyber-attacks on cyber-physical systems has vastly increased. Furthermore, traditional intrusion defense strategies for IT systems are often not applicable in operational environments. In this paper we present an anomaly-based approach for detection and classification of attacks in cyber-physical systems. To test our approach, we set up a test environment with sensors, actuators and controllers widely used in industry, thus, providing system data as close as possible to reality. First, anomaly detection is used to define a model of normal system behavior by calculating outlier scores from normal system operations. This valid behavior model is then compared with new data in order to detect anomalies. Further, we trained an attack model, based on supervised attacks against the test setup, using the naive Bayes classifier. If an anomaly is detected, the classification process tries to classify the anomaly by applying the attack model and calculating prediction confidences for trained classes. To evaluate the statistical performance of our approach, we tested the model by applying an unlabeled dataset, which contains valid and anomalous data. The results show that this approach was able to detect and classify such attacks with satisfactory accuracy.

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