 Cyber attacks on cyber-physical systems, CPSs, have become more prevalent due to the rapid proliferation of these systems in various sectors, including critical infrastructure, transportation, healthcare, and the energy industry. These systems combine both physical and digital components, making them vulnerable to cyber attacks. To protect these systems from cyber attacks, robust cybersecurity measures must be put into place. Such measures include intrusion detection systems, IDSs, firewalls, access control mechanisms, and encryption. Additionally, effective cyber attack detection and mitigation methods should consider the unique characteristics of each CPS, such as its interconnectedness of physical and cyber components, the need for real-time response, and the potential consequences of a security breach. Implementing these measures will ensure the safety and reliability of critical infrastructure and other vital systems. This paper reviews the various kinds of cyber attacks that have been launched or implemented in CPSs. It also summarizes the state-of-the-art detection and mitigation methods that have been used or proposed to secure the safe operation of various CPSs. Furthermore, it discusses This article was authored by Namlum Tukish, Adene E.K. Onalapo, Anualua Paulukko, and others. We are article.tv, links in the description below.