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In this paper we present ReSecure, a framework that uses the concept of system restart to secure hard real-time systems (RTS). ReSecure is used to improve the security of RTS without violating safety or temporal constraints. We also show how designers of systems can customize (or even optimize) system parameters to achieve the best trade-offs between security and control system performance. We demonstrate our concepts using a prototype on an ARM-based embedded platform as well as a 3 degree of freedom (3 DOF) helicopter system.