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Cyber-physical systems (CPS) embody a tight integration between network-based communications, software, sensors, and physical processes. While the integration of cyber technologies within legacy systems will most certainly introduce opportunities and advancements not yet envisioned, it will undoubtedly also pave the way to misdemeanors that will exploit systems' resources, causing drastic and severe nationwide impacts. While almost all works in the literature exclusively tackled the security of one independent aspect of CPS (i.e., cyber or physical), we argue that these systems cannot be decoupled. In this context, we present what we believe is a first attempt ever to tackle the problem of CPS security in a coupled and a systematic manner. To this end, this article proposes a novel approach that federates the cyber and physical environments to infer and attribute tangible CPS attacks. This is achieved by …