The increasing set of functionalities, network interoperability, and system design complexity have introduced security vulnerabilities in cyber-physical systems (CPS). As recently demonstrated, a remote attacker can disrupt the operation of a car to either disable the vehicle or hijack it. High-profile security incidents in other CPS domains include a large-scale attack on Ukraine’s power-grid and the StuxNet attack on an industrial system, while the RQ-170 Sentinel drone capture has shown that even safety-critical military CPS can be compromised.