A Comprehensive Review of Cyber-Attacks and Defense Mechanisms for Improving Security in Smart Grid Energy Systems: Past, Present and Future

•Different methods and possible solutions in cyber security in SGs are summarized.•The interactive features of cyber security, modeling and mechanisms are discussed in detail.•The characteristics and applicability of various cyber-attack models are technically presented and analyzed.•The cutting-edge cyber security techniques in SGs and energy systems in various research are discussed.•Possible potential research directions regarding CPSs are highlighted.•Decisive problem-solving approaches are analyzed and concluded comprehensively.