Performance under packet loss and false-data injection attack
| Scenario | Controller | Peak output deviation | Recovery time |
|---|---|---|---|
| Packet Loss (p = 0.15) | PID | 0.162 | >5 s |
| Packet Loss (p = 0.15) | MPC | 0.097 | 3.2 s |
| Packet Loss (p = 0.15) | ADRC | 0.074 | 2.6 s |
| Packet Loss (p = 0.15) | TB-MPC | 0.058 | 2.0 s |
| Packet Loss (p = 0.15) | RMPC | 0.041 | 1.4 s |
| FDI Attack (k = 200–250) | PID | 0.195 | >6 s |
| FDI Attack (k = 200–250) | MPC | 0.118 | 4.1 s |
| FDI Attack (k = 200–250) | ADRC | 0.089 | 3.3 s |
| FDI Attack (k = 200–250) | TB-MPC | 0.071 | 2.7 s |
| FDI Attack (k = 200–250) | RMPC | 0.047 | 1.6 s |
| Scenario | Controller | Peak output deviation | Recovery time |
|---|---|---|---|
| Packet Loss ( | PID | 0.162 | >5 s |
| Packet Loss ( | MPC | 0.097 | 3.2 s |
| Packet Loss ( | ADRC | 0.074 | 2.6 s |
| Packet Loss ( | TB-MPC | 0.058 | 2.0 s |
| Packet Loss ( | RMPC | 0.041 | 1.4 s |
| FDI Attack (k = 200–250) | PID | 0.195 | >6 s |
| FDI Attack (k = 200–250) | MPC | 0.118 | 4.1 s |
| FDI Attack (k = 200–250) | ADRC | 0.089 | 3.3 s |
| FDI Attack (k = 200–250) | TB-MPC | 0.071 | 2.7 s |
| FDI Attack (k = 200–250) | RMPC | 0.047 | 1.6 s |
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