With the rapid proliferation of cyber-physical systems (CPSs) in various sectors, including critical infrastructure, transportation, healthcare, and the energy industry, there is a pressing need for robust cybersecurity mechanisms to protect these systems from cyberattacks. A cyber-physical system is a combination of physical and cyber components, and a security breach in either component can lead to catastrophic consequences. Cyberattack detection and mitigation methods in CPSs involve the use of various techniques such as intrusion detection systems (IDSs), firewalls, access control mechanisms, and encryption. Overall, effective cyberattack detection and mitigation methods in CPSs require a comprehensive security strategy that considers the unique characteristics of a CPS, such as the interconnectedness of physical and cyber components, the need for real-time response, and the potential consequences of a security breach. By implementing these methods, CPSs can be better protected against cyberattacks, thus ensuring the safety and reliability of critical infrastructure and other vital systems. This paper reviews the various kinds of cyber-attacks that have been launched or implemented in CPSs. It reports on the state-of-the-art detection and mitigation methods that have been used or proposed to secure the safe operation of various CPSs. A summary of the requirements that CPSs need to satisfy their operation is highlighted, and an analysis of the benefits and drawbacks of model-based and data-driven techniques is carried out. The roles of machine learning in cyber assault are reviewed. In order to direct future study and motivate additional investigation of this increasingly important subject, some challenges that have been unaddressed, such as the prerequisites for CPSs, an in-depth analysis of CPS characteristics and requirements, and the creation of a holistic review of the different kinds of attacks on different CPSs, together with detection and mitigation algorithms, are discussed in this review.
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