This document presents a comprehensive framework for designing and operating secure and reliable cyber-physical systems that are resource-constrained. It integrates control-theoretic methods with information security and computational models to evaluate tradeoffs among various design objectives, particularly focusing on the relationship between control performance, system security, and platform schedulability. The authors emphasize the importance of co-designing security mechanisms and control algorithms with the embedded platform to ensure feasible implementation and maintain performance and timing robustness.
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