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’s 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 zeroknowledge 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 real-time 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 cloudbased 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.

Paper accepted in the L-CSS Letters. 

Francesca Stabile, Walter Lucia, Amr Youssef, Giuseppe Franzè, "A Verifiable Computing Scheme for Encrypted Control Systems", Control Systems Letters (L-CSS), DOI 10.1109/LCSYS.2024.3407636, 2024.