In this paper, we propose a systematic design framework for output-based dynamic event-triggered control (ETC) systems under Denial-of-Service (DoS) attacks. These malicious DoS attacks are intended to interfere with the communication channel causing periods in time at which transmission of measurement data is impossible. We show that the proposed ETC scheme, if well designed, can tolerate a class of DoS signals characterized by frequency and duration properties without jeopardizing the

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... y, performance and Zeno-freeness of the ETC system. In fact, the design procedure of the ETC condition allows trade-offs between performance, robustness to DoS attacks and utilization of communication resources. The main results will be illustrated by means of a numerical example. V.S. Dolk received the M.Sc. degree (cum laude) in mechanical engineering from the Eindhoven University of Technology (TU/e), Eindhoven, the Netherlands, in 2013 where he is currently pursuing the Ph.D. degree. His research interests include hybrid dynamical systems, networked control systems, intelligent transport systems and event-triggered control. P. Tesi received the Laurea degree and the Ph.D. degree in Computer & Control Engineering, both from the University of Florence, Italy, in 2005 and 2010, respectively. During his PhD he has been a visiting scholar at