  When visual image information is transmitted via communication networks, it
easily suffers from image attacks, leading to system performance degradation or
even crash. This paper investigates secure control of networked inverted
pendulum visual servo system (NIPVSS) with adverse effects of image
computation. Firstly, the image security limitation of the traditional NIPVSS
is revealed, where its stability will be destroyed by eavesdropping-based image
attacks. Then, a new NIPVSS with the fast scaled-selective image encryption
(F2SIE) algorithm is proposed, which not only meets the real-time requirement
by reducing the computational complexity, but also improve the security by
reducing the probability of valuable information being compromised by
eavesdropping-based image attacks. Secondly, adverse effects of the F2SIE
algorithm and image attacks are analysed, which will produce extra
computational delay and errors. Then, a closed-loop uncertain time-delay model
of the new NIPVSS is established, and a robust controller is designed to
guarantee system asymptotic stability. Finally, experimental results of the new
NIPVSS demonstrate the feasibility and effectiveness of the proposed method.
