New control system security vulnerabilities arise when malicious attackers exploit the physical environment -- not protected by cybersecurity defenses -- to execute an attack (e.g. GPS spoofing). Ensuring the safety and performance of cyber physical control systems requires algorithms capable of closing-the-loop despite malicious disturbances while simultaneously operating within the implementation resource constraints. Although small disturbance attenuation is a centerpiece of all robust control systems, stability and safety claims become invalid when model and measurement deviations violate the design assumptions. In this theme, my research aims to design secure cyber physical control systems within the application resource constraints and analyze the corresponding robustness against malicious attacks.