  In this paper a novel approach to co-design controller and attack detector
for nonlinear cyber-physical systems affected by false data injection (FDI)
attack is proposed. We augment the model predictive controller with an
additional constraint requiring the future---in some steps ahead---trajectory
of the system to remain in some time-invariant neighborhood of a properly
designed reference trajectory. At any sampling time, we compare the real-time
trajectory of the system with the designed reference trajectory, and construct
a residual. The residual is then used in a nonparametric cumulative sum (CUSUM)
anomaly detector to uncover FDI attacks on input and measurement channels. The
effectiveness of the proposed approach is tested with a nonlinear model
regarding level control of coupled tanks.
