October 25, 2021


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Input-Output History Feedback Controller for Encrypted Control with Leveled Fully Homomorphic Encryption. (arXiv:2109.10718v1 [eess.SY])

Protecting the parameters, states, and input/output signals of a dynamic
controller is essential for securely outsourcing its computation to an
untrusted third party. Although a fully homomorphic encryption scheme allows
the evaluation of controller operations with encrypted data, an encrypted
dynamic controller with the encryption scheme destabilizes a closed-loop system
or degrades the control performance due to overflow. This paper presents a
novel controller representation based on input-output history data to implement
an encrypted dynamic controller that operates without destabilization and
performance degradation. An algorithm for efficient encrypted control
computation is also proposed using single instruction/multiple data operations
based on a batching technique. Furthermore, this study analyzes the stability
and performance degradation of a closed-loop system caused by the effects of
controller encryption. A numerical simulation demonstrates the feasibility of
the proposed encrypted control scheme, which inherits the control performance
of the original controller at a sufficient level.