Abstract
Programmable Logic Controllers (PLCs) are the brains of Industrial Control Systems (ICSes), and thus, are often targeted by attackers. While many intrusion detection systems (IDSes) have been adapted to monitor ICS, they cannot detect malicious network packets from a compromised PLC that conform to the network protocol. A domain expert needs to manually construct IDS rules to model a PLC's behavior. That approach is time-consuming and error-prone. Alternatively, machine learning can infer a PLC's behavior model from network traces, but that model may be inaccurate due to a lack of high-quality training data. This paper presents CoToRu - a toolchain that takes in the PLC's code to automatically generate a comprehensive set of IDS rules. CoToRu comprises (1) an analyzer that parses PLC code to build a state transition table for modeling the PLC's behavior, and (2) a generator that instantiates IDS rules for detecting deviations in PLC behavior. The generated rules can be imported into Zeek IDS to detect various attacks. We apply CoToRu to a power grid testbed and show that our generated rules provide superior performance compared to existing IDSes, including those based on statistical analysis, invariant-checking, and machine learning. Our prototype with CoToRu's generated rules provide sub-millisecond detection latency, even for complex PLC logic.