The modern day highly complex computing systems being used in cyber physical systems are built around the System-on-Chip (SoC) devices. These complex SoCs often have multicore processor or microcontroller as central module and various other functional modules such as GPUs, caches, communication subsystems such as DSP, WiFi, cellular network modems, analog, mixed-signal, etc. These systems are used widely in applications such as autonomous vehicles, communication, power transmission, avionics, finance, healthcare, military equipment, etc. Security and reliability of these systems are of utmost importance. Failure of these systems may result in huge financial losses, threat to life, disruption in essential services, etc. Further, a breach in the security of these systems as shown in below Figure, where they are deployed in infrastructure of national importance such as military electronic infrastructure, nuclear facilities, etc., may pose a serious threat to national security. Thus, it is essential for SoC designers to prioritize the development of hardware devices that are resistant to hardware attacks without compromising their testability.