@article{zhang16ieeenetwork,
  author={Zhang, Heng and Shu, Yuanchao and Cheng, Peng and Chen, Jiming},
  title={{Privacy and Performance Trade-off in Cyber-Physical Systems}},
  journal={IEEE Network Magazine},
  year={2016}, 
  volume={30}, 
  number={2}, 
  pages={62-66}, 
}