Controller computing system for preventing malicious control of a controlled machinery system

A controller computing system, including:

• a plurality of controllers, each controller configured to i) calculate a respective output based on a current set point and ii) output a timer signal;
• an additional controller configured to i) calculate an additional output based on a previous set point and ii) output an additional timer signal;
• a cyber security manager (CSM) computing module configured to:
• output a nominal signal indicating that the current set point is a non-malicious set point when the CSM computing module receives each of the timer signals from each of the plurality of controllers, and the additional output from the additional controller;
• and
• output a reset signal indicating that the current set point is a malicious set point when the CSM computing module receives less than each of the timer signals from the plurality of controllers;
• an enhanced voter computing module configured to:
• when the nominal signal is received from the CSM computing module, i) identify a majority based on each of the outputs of the respective controllers and the additional output of the additional controller, and ii) generate a voter output based on the identified majority, and
• when the reset signal is received from the CSM computing module, generate the voter output based on the additional output.

A controller computing system, including:

• a first controller configured to calculate a first output based on a current set point;
• a second controller configured to calculate a second output based on the current set point;
• a third controller configured to calculate a third output based on the current set point;
• a fourth controller configured to calculate a fourth output based on a previous set point;
• an enhanced time delay buffer configured to delay reception of the current set point by the fourth controller;
• an enhanced voter computing module configured to:
• when a nominal set point is detected i) identify a majority based on the first output, the second output, and the third output, and ii) generate a voter output based on the identified majority;
• and
• when a malicious set point is detected, generate the voter output based on the fourth output.