Adjustable proportional-integral multivariable observer-based FDI attack dynamic reconstitution and secure control for cyber-physical systems

•A novel adjustable proportional-integral multivariable observer is proposed.•System states, time-varying sensor and actuator FDI attack signals are reconstituted, simultaneously.•The effects of variation rate of attack signals on attack reconstitution are attenuated.•Proposed scheme reduces the design cost and computational complexity.