Delay attacks on feedback systems is a subject that has not been widely studied. The following papers have a look on the servo and regulator problems in such situations and proposes recursive output error identification of the dynamics and delay for detection of delay changes indicative of an attack:

- T. Wigren and A. Teixeira, "On-line identification of delay attacks in networked servo control", Proc. IFAC World Congress, pp. 1041-1047, Yokohama, Japan, July 9-14, 2023.

- T. Wigren and A. Teixeira, "Feedback path delay attacks and detection", Proc. IEEE CDC, pp. 3864-3871, Singapore, December 13-15, 2023.