  Cloud computing and distributed computing are becoming ubiquitous in many
modern control systems such as smart grids, building automation, robot swarms
or intelligent transportation systems. Compared to "isolated" control systems,
the advantages of cloud-based and distributed control systems are, in
particular, resource pooling and outsourcing, rapid scalability, and high
performance. However, these capabilities do not come without risks. In fact,
the involved communication and processing of sensitive data via public networks
and on third-party platforms promote, among other cyberthreats, eavesdropping
and manipulation of data. Encrypted control addresses this security gap and
provides confidentiality of the processed data in the entire control loop. This
paper presents a tutorial-style introduction to this young but emerging field
in the framework of secure control for networked dynamical systems.
