  The proliferation of cloud computing technologies has paved the way for
deploying networked encrypted control systems, offering high performance,
remote accessibility and privacy. However, in scenarios where the control
algorithms run on third-party cloud service providers, the control logic might
be changed by a malicious agent on the cloud. Consequently, it is imperative to
verify the correctness of the control signals received from the cloud.
Traditional verification methods, like zero-knowledge proof techniques, are
computationally demanding in both proof generation and verification, may
require several rounds of interactions between the prover and verifier and,
consequently, are inapplicable in realtime control system applications. In this
paper, we present a novel computationally inexpensive verifiable computing
solution inspired by the probabilistic cut-and-choose approach. The proposed
scheme allows the plant's actuator to validate the computations accomplished by
the encrypted cloud-based networked controller without compromising the control
scheme's performance. We showcase the effectiveness and real-time applicability
of the proposed verifiable computation scheme using a remotely controlled
Khepera IV differential-drive robot.
