Fuente: Wipo "Sensorization" There is provided a method of attack detection in a sensor network of a networked control system using at least one processor, the sensor network including a plurality of sensors, the method including: obtaining, from each of the plurality of sensors, measured sensor data; determining, for each of the plurality of sensors, first estimated sensor data based on an individual system model associated with the sensor; determining, for each of the plurality of sensors, second estimated sensor data based on a joint system model associated with the plurality of sensors; determining, for each of the plurality of sensors, first residual information associated with the sensor based on the measured sensor data and the first estimated sensor data associated with the sensor; determining, for each of the plurality of sensors, second residual information associated with the sensor based on the measured sensor data and the second estimated sensor data associated with the sensor; and detecting, for each of the plurality of sensors, whether the sensor is subject to an attack based on the first residual information and the second residual information associated with the sensor. There is also provided a corresponding system for attack detection in a sensor network of a networked control system.