In this paper, we propose a secure two-party computation protocol for dynamic controllers using a secret sharing scheme. The proposed protocol realizes outsourcing of controller computation to two servers, while controller parameters, states, inputs, and outputs are kept secret against the servers. Unlike previous encrypted controls in a single-server setting, the proposed method can operate a dynamic controller for an infinite time horizon without controller state decryption or input re-encryption. We show that the control performance achievable by the proposed protocol can be made arbitrarily close to that attained by the unencrypted controller. Furthermore, system-theoretic and cryptographic modifications of the protocol are presented to improve the communication complexity. The feasibility of the protocol is demonstrated through numerical examples of PID and observer-based controls.
View on arXiv@article{teranishi2025_2503.02176,
title={ Client-Aided Secure Two-Party Computation of Dynamic Controllers },
author={ Kaoru Teranishi and Takashi Tanaka },
journal={arXiv preprint arXiv:2503.02176},
year={ 2025 }
}