IoT systems are supporting end to end functionalities, starting in the physical world (sensors) continuing in the digital processing domain, and ending in the physical world (actuators). Therefore security must be designed end to end, inside these three building blocks and overall.
I would suggest you to design a new IDS architecture with IoT characteristics consideration (such as fast responses, high volume data processing, ...). This architecture can detect serious attacks such as DoS, and DDoS too.