I. INTRODUCTION

II. CONCEPTS AND EVOLUTION OF DIVERSITY-BASED SECURITY, AND THEIR DESIGN PRINCIPLES

III. TYPES OF CPSs AND THE KEY ATTRIBUTES OF DEPENDABLE AND SECURE CPSs

IV. DIVERSITY-BASED TECHNIQUES

V. ATTACK TYPES CONSIDERED BY DIVERSITY-BASED SECURITY APPROACHES

VI. METRICS, DATASETS, AND EVALUATION TESTBEDS

VII. LIMITATIONS, INSIGHTS, AND LESSONS LEARNED

VIII. CONCLUSION AND FUTURE WORK