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Recent emerging technologies, which integrate sensing, computation, communication, and control, have changed the way we observe and control the physical world. Cyberphysical systems (CPSs)[Rajkumar et al. 2010] are systems that have been applied in a variety of applications to collect data such as temperature, heart rate, speed, and so on from the physical world and make decisions based on the analysis of the data, thereby controlling and optimizing the physical objects in the real world. We are not only witnessing a seamless consolidation of the physical world and the cyber world but also experiencing a significant change in our lifestyles brought by the CPS. In medical CPSs, medical sensors are deployed to monitor the long-term biomedical condition of patients [Lee and Sokolsky 2010]. In the smart grid system, electricity usage data and the healthy status information of the smart grid are monitored and …