  In this paper, we study networked systems in the presence of
Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over
the communication network. Previous studies have shown that co-located
architectures (control unit co-located with the actuators and networked sensor
channel) can ensure a high level of robustness against DoS. However,
co-location requires a wired or dedicated actuator channel, which could not
meet flexibility and cost requirements. In this paper we consider a control
architecture that approximates co-location while enabling remote implementation
(networked sensor and actuator channels). We analyze closed-loop stability and
quantify the robustness "gap" between this architecture and the co-located one.
