I had the same worry as you. I called DWP who assured me that as long as i had proof of sending forms by recorded delivey i should not worry.
When i called Atos, they said that someone goes on a daily basis to royal mail to collect Recorded Delivery mail.
My husbands form was recieved.
Try not to worry too much, i am sure your form is in their system as recieved like my husbands was.
Radhika.