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Due to the unique characteristics of Cyber-Physical Systems (CPS) such as interaction with the physical world, many new research challenges arise. Many CPS applications will be implemented on computing devices using mobile ad hoc networks (MANETs). Before these systems can be used in multifarious environments, the security properties of these networks must be fully understood. Recently, several secure signature schemes for MANETs have been proposed based on public key cryptography and identity-based cryptography. In order to solve some problems in these schemes, such as the costly and complex key management problem in traditional public key cryptography and the “key escrow” problem in identity-based cryptography, the notion of certificateless public key cryptography was introduced. In this paper, we propose an efficient certificateless signature scheme for mobile wireless cyberphysical systems (McCLS) based on the bilinear Diffie-Hellman assumption. Empirical studies are conducted using QualNet to evaluate the effectiveness and efficiency of McCLS scheme under two most common attacks, i.e. black hole attack and rushing attack. Results show that McCLS scheme is more efficient than existing solutions and is able to resist these two kinds of attacks.