MiniCPS Framework
MiniCPS is a framework that we developed to simulate/emulate Cyber-Physical Systems, including Industrial Control System. MiniCPS is open source and available on Github. The framework is build on top of Mininet.
We used the framework in several other projects such as the development of novel attacks (e.g., ICS botnets), countermeasures (e.g., high-interaction ICS honeypots), and gamified ICS security competitions (e.g., S3 ICS CTF).