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In this paper, we study networked systems in the presence ofDenial-of-Service (DoS) attacks, namely attacks that prevent transmissions overthe communication network. Previous studies have shown that co-locatedarchitectures (control unit co-located with the actuators and networked sensorchannel) can ensure a high level of robustness against DoS. However,co-location requires a wired or dedicated actuator channel, which could notmeet flexibility and cost requirements. In this paper we consider a controlarchitecture that approximates co-location while enabling remote implementation(networked sensor and actuator channels). We analyze closed-loop stability andquantify the robustness "gap" between this architecture and the co-located one.

Networked Systems under Denial-of-Service: Co-located vs. Remote Control Architectures