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As modern control systems are controlled by digital controllers and the control input is transmitted through a data network, the systems are sometimes interpreted as cyber-physical systems (CPS).  When it comes to interpreting control systems in the CPS framework, a huge interest of research has been paid to the fact that the CPSs are exposed to threats of malicious agents or adversary outside the control loop, because of accessibility of data network. For those reasons, it is important to understand the vulnerability of a system in a control-theoretic point of view, and to exploit countermeasures to guarantee security of the system.

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