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International Journal Papers- G.G. Zanvettor, M. Casini, A. Giannitrapani, S. Paoletti, A. Vicino, "A chance-constrained programming approach to optimal management of car-rental fleets of electric vehicles", Sustainable Energy, Grids and Networks, 41(101587), 2025. [pdf], [DOI:10.1016/j.segan.2024.101587]
- G. Bianchini, M. Casini, M. Gholami, "Optimal operation of renewable energy communities under demand response programs", Energy, 326(136076), 2025. [pdf], [DOI:10.1016/j.energy.2025.136076]
- M. Casini, A. Garulli, A. Vicino, "Adaptive Threshold Selection for Set Membership State Estimation with Quantized Measurements", IEEE Transactions on Automatic Control, in press, 2025. [pdf], [DOI:10.1109/TAC.2025.3545704]
- G. Bianchini, M. Casini, A. Laudani, G.M. Lozito, "Optimal Operation of Solar Battery Chargers via Mixed-Integer Linear Programming", IEEE Control Systems Letters, 9, pp. 384-389, 2025. [pdf], [DOI:10.1109/LCSYS.2025.3573333]
- M. Casini, A. Garulli, A. Vicino, "Set membership state estimation for discrete-time linear systems with binary sensor measurements", Automatica, 159(111396), 2024. [pdf], [DOI:10.1016/j.automatica.2023.111396]
- G.G. Zanvettor, M. Casini, A. Vicino, "Optimal Operation of Energy Storage Facilities in Incentive-Based Energy Communities", Energies, 17(11), 2589, 2024. [pdf], [DOI:10.3390/en17112589]
- G.G. Zanvettor, M. Fochesato, M. Casini, J. Lygeros, A. Vicino, "A stochastic approach for EV charging stations in demand response programs", Applied Energy, 373(123862), 2024. [pdf], [DOI:10.1016/j.apenergy.2024.123862]
- E. Belloni, G. Bianchini, M. Casini, A. Faba, M. Intravaia, A. Laudani, G.M. Lozito, "An overview on building-integrated photovoltaics: technological solutions, modeling, and control", Energy & Buildings, 324(114867), 2024. [pdf], [DOI:10.1016/j.enbuild.2024.114867]
- M. Casini, A. Garulli, "On the advantage of centralized strategies in the three-pursuer single-evader game", Systems & Control Letters, 160(105122), 2022. [pdf], [DOI:10.1016/j.sysconle.2021.105122]
- G.G. Zanvettor, M. Casini, R.S. Smith, A. Vicino, "Stochastic Energy Pricing of an Electric Vehicle Parking Lot", IEEE Transactions on Smart Grid, 13(4), pp. 3069-3081, 2022. [pdf], [DOI:10.1109/TSG.2022.3160229]
- G.G. Zanvettor, M. Casini, A. Giannitrapani, S. Paoletti, A. Vicino, "Optimal Management of Energy Communities Hosting a Fleet of Electric Vehicles", Energies, 15(22), 8697, 2022. [pdf], [DOI:10.3390/en15228697]
- M. Casini, A. Garulli, "A Two-Pursuer One-Evader Game with Equal Speed and Finite Capture Radius", Journal of Intelligent & Robotic Systems, 106, 77, 2022. [pdf], [DOI:10.1007/s10846-022-01780-4]
- M. Casini, A. Vicino, G.G. Zanvettor, "A receding horizon approach to peak power minimization for EV charging stations in the presence of uncertainty", International Journal of Electrical Power & Energy Systems, 126(106567), 2021. [pdf], [DOI:10.1016/j.ijepes.2020.106567]
- M. Casini, A. Vicino, G.G. Zanvettor, "A chance constraint approach to peak mitigation in electric vehicle charging stations", Automatica, 131(109746), 2021. [pdf], [DOI:10.1016/j.automatica.2021.109746]
- M. Casini, A. Garulli, "A new class of pursuer strategies for the discrete-time lion and man problem", Automatica, 100, pp. 162-170, 2019. [pdf], [DOI:10.1016/j.automatica.2018.11.015]
- M. Casini, M. Criscuoli, A. Garulli, "A discrete-time pursuit-evasion game in convex polygonal environments", Systems & Control Letters, 125, pp. 22-28, 2019. [pdf], [DOI:10.1016/j.sysconle.2018.12.008]
- G. Bianchini, M. Casini, D. Pepe, A. Vicino, G.G. Zanvettor, "An integrated model predictive control approach for optimal HVAC and energy storage operation in large-scale buildings", Applied Energy, 240, pp. 327-340, 2019. [pdf], [DOI:10.1016/j.apenergy.2019.01.187]
- M. Casini, G.G. Zanvettor, M. Kovjanic, A. Vicino, "Optimal Energy Management and Control of an Industrial Microgrid With Plug-in Electric Vehicles", IEEE Access, 7, pp. 101729-101740, 2019. [pdf], [DOI:10.1109/ACCESS.2019.2930274]
- M. Casini, A. Garulli, A. Vicino, "A recursive technique for tracking the feasible parameter set in bounded error estimation", International Journal of Adaptive Control and Signal Processing, 31(10), pp. 1456-1466, 2017. [pdf], [DOI:10.1002/acs.2778]
- M. Casini, A. Garulli, A. Vicino, "A linear programming approach to online set membership parameter estimation for linear regression models", International Journal of Adaptive Control and Signal Processing, 31(3), pp. 360-378, 2017. [pdf], [DOI:10.1002/acs.2701]
- M. Casini, A. Garulli, "An improved lion strategy for the lion and man problem", IEEE Control Systems Letters, 1(1), pp. 38-43, 2017. [pdf], [DOI:10.1109/LCSYS.2017.2702652]
- G. Bianchini, M. Casini, A. Vicino, D. Zarrilli, "Demand-response in building heating systems: A Model Predictive Control approach", Applied Energy, 168, pp. 159-170, 2016. [pdf], [DOI:10.1016/j.apenergy.2016.01.088]
- M. Casini, A. Garulli, "MARS: An Educational Environment for Multiagent Robot Simulations", Modelling and Simulation in Engineering, pp. 1-13, 2016. [pdf], [DOI:10.1155/2016/5914706]
- M. Casini, C. Mocenni, S. Paoletti, M. Pranzo, "Decision support system development for integrated management of European coastal lagoons", Environmental Modelling & Software, 64, pp. 47-57, 2015. [pdf], [DOI:10.1016/j.envsoft.2014.11.008]
- M. Casini, A. Garulli, A. Giannitrapani, A. Vicino, "A Remote Lab for Experiments with a Team of Mobile Robots", Sensors, 14(9), pp. 16486-16507, 2014. [pdf], [DOI:10.3390/s140916486]
- M. Casini, A. Garulli, A. Vicino, "Feasible parameter set approximation for linear models with bounded uncertain regressors", IEEE Transactions on Automatic Control, 59(11), pp. 2910-2920, 2014. [pdf], [DOI:10.1109/TAC.2014.2351855]
- M. Casini, A. Garulli, A. Vicino, "Input design in worst-case system identification with quantized measurements", Automatica, 48(12), pp. 2997-3007, 2012. [pdf], [DOI:10.1016/j.automatica.2012.08.016]
- M. Casini, A. Garulli, A. Vicino, "Input Design in Worst-case System Identification using Binary Sensors", IEEE Transactions on Automatic Control, 56(5), pp. 1186-1191, 2011. [pdf], [DOI:10.1109/TAC.2011.2107091]
- M. Casini, A. Garulli, A. Vicino, "Efficient computation of l1 uncertainty model from an impulse response set", Automatica, 44(10), pp. 2570-2576, 2008. [pdf], [DOI:10.1016/j.automatica.2008.02.006]
- G. Fontani, S. Migliorini, R. Benocci, A. Facchini, M. Casini, F. Corradeschi, "Effect of mental imagery on the development of skilled motor actions", Perceptual and Motor Skills, 105(3), pp. 803-826, 2007., [DOI:10.2466/pms.105.3.803-826]
- M. Casini, D. Prattichizzo, A. Vicino, "Operating Remote Laboratories Through a Bootable Device", IEEE Transactions on Industrial Electronics, 54(6), pp. 3134-3140, 2007. [pdf], [DOI:10.1109/TIE.2007.907026]
- L. Loubersac, T. Do Chi, A. Fiandrino, M. Jouan, V. Derolez, A. Lemsanni, H. Rey-Valette, S. Mathe, S. Page, C. Mocenni, M. Casini, S. Paoletti, M. Pranzo, F. Valette, O. Serais, T. Laugier, N. Mazouni, C. Vincent, M. Troussellier, C. Aliaume, "Microbial contamination and management scenarios in a Mediterranean coastal lagoon (Etang de Thau, France): application of a Decision Support System within the Integrated Coastal Zone Management context", Transitional Waters Monographs, 1(1), pp. 107-127, 2007. [pdf], [DOI:10.1285/i18252273v1n1p107]
- M. Casini, A. Garulli, A. Vicino, "On Input Design in l∞ Conditional Set Membership Identification", Automatica, 42(5), pp. 815-823, 2006. [pdf], [DOI:10.1016/j.automatica.2006.01.006]
- M. Casini, A. Garulli, D. Prattichizzo, A. Vicino, "Remote Identification and Control Experiments on a DC Motor", IEEE Learning Technology Newsletter, 7(3), pp. 36-39, 2005. [pdf]
- M. Casini, D. Prattichizzo, A. Vicino, "A Student Control Competition through a Remote Robotics Lab", IEEE Control Systems Magazine, 25(1), pp. 56-59, 2005. [pdf], [DOI:10.1109/MCS.2005.1388802]
- M. Casini, D. Prattichizzo, A. Vicino, "The Automatic Control Telelab: A Web-based Technology for Distance Learning", IEEE Control Systems Magazine, 24(3), pp. 36-44, 2004. [pdf], [DOI:10.1109/MCS.2004.1299531]
- M. Casini, D. Prattichizzo, A. Vicino, "The Automatic Control Telelab: a User-Friendly Interface for Distance Learning", IEEE Transactions on Education, 46(2), pp. 252-257, 2003. [pdf], [DOI:10.1109/TE.2002.808224]
- M. Casini, A. Garulli, A. Vicino, "On Worst-Case Approximation of Feasible System Sets via Orthonormal Basis Functions", IEEE Transactions on Automatic Control, 48(1), pp. 96-101, 2003. [pdf], [DOI:10.1109/TAC.2002.806658]
International Book Chapters- C. Mocenni, M. Casini, S. Paoletti, G. Giordani, P. Viaroli, J. Zaldìvar Comenges, "A Decision Support System for the Management of the Sacca di Goro (Italy)". In: A. Marcomini, G.W. Suter II, A. Critto, Decision Support Systems for Risk-Based Management of Contaminated Sites, pp. 399-422. Springer, 2009.
- M. Casini, D. Prattichizzo, A. Vicino, "A Matlab-Based Remote Lab for Control and Robotics Education". In: S.G. Tzafestas, Web-Based Control and Robotics Education, pp. 127-151. Springer, 2009.
International Conferences- M. Casini, A. Garulli, "A Family of Switching Pursuit Strategies for a Multi-Pursuer Single-Evader Game", Proc. 63rd IEEE Conf. on Decision and Control, pp. 3557-3562, Milano, Italy, Dec., 2024. [pdf]
- M. Casini, A. Garulli, A. Vicino, "Set Membership State Estimation with Quantized Measurements and Optimal Threshold Selection", Preprints 20th IFAC Symposium on System Identification, Boston, MA, USA, July, 2024. [pdf]
- E. Belloni, M. Casini, A. Faba, A. Laudani, G.M. Lozito, "Development of a new LED-based solar simulator for building-integrated photovoltaic characterization", Proc. 24th IEEE International Conference on Environment and Electrical Engineering, Roma, Italia, June, 2024. [pdf]
- G.G. Zanvettor, M. Casini, A. Giannitrapani, S. Paoletti, A. Vicino, "Optimal Charging of Electric Vehicles in Incentive-Based Energy Communities", Proc. 22nd IEEE Mediterranean Electrotechnical Conference, pp. 936-931, Porto, Portogallo, June, 2024. [pdf]
- G.G. Zanvettor, M. Fochesato, M. Casini, A. Vicino, "A Receding Horizon Scheme for EV Charging Stations in Demand Response Programs", Proc. 62nd IEEE Conf. on Decision and Control, pp. 3130-3135, Marina Bay Sands, Singapore, Dec., 2023. [pdf], [DOI:10.1109/CDC49753.2023.10383725]
- M. Fochesato, G.G. Zanvettor, M. Casini, A. Vicino, "A data-driven dynamic pricing scheme for EV charging stations with price-sensitive customers", Proc. 61st IEEE Conf. on Decision and Control, pp. 5042-5047, Cancun, Mexico, Dec., 2022. [pdf], [DOI:10.1109/CDC51059.2022.9993356]
- M. Casini, A. Garulli, "Cooperative versus non-cooperative strategies in three-pursuer single-evader games", Proc. European Control Conference (ECC2020), pp. 465-470, Saint Petersburg, Russia, May, 2020., [DOI:10.23919/ECC51009.2020.9143628]
- M. Casini, A. Vicino, G.G. Zanvettor, "A distributionally robust joint chance constraint approach to smart charging of plug-in electric vehicles", Proc. 58th IEEE Conf. on Decision and Control, pp. 4222-4227, Nice, France, Dec., 2019., [DOI:10.1109/CDC40024.2019.9029763]
- M. Casini, A. Garulli, "A novel family of pursuit strategies for the lion and man problem", Proc. 56th IEEE Conf. on Decision and Control, pp. 6436-6441, Melbourne, Australia, Dec., 2017. [pdf], [DOI:10.1109/CDC.2017.8264629]
- G. Bianchini, M. Casini, D. Pepe, A. Vicino, G.G. Zanvettor, "An Integrated MPC Approach for Demand-Response Heating and Energy Storage Operation in Smart Buildings", Proc. 56th IEEE Conf. on Decision and Control, pp. 3865-3870, Melbourne, Australia, Dec., 2017., [DOI:10.1109/CDC.2017.8264228]
- G. Bianchini, M. Casini, D. Pepe, A. Vicino, G.G. Zanvettor, "Optimal Demand-Response Operation of Heating and Energy Storage in Smart Buildings", 2017 AEIT International Annual Conference, Cagliari, Italy, Sep., 2017., [DOI:10.23919/AEIT.2017.8240555]
- M. Casini, A. Garulli, "MARS: a Matlab simulator for mobile robotics experiments", Proc. 11th IFAC Symposium on Advances in Control Education, pp. 69-74, Bratislava, Slovak Republic, June, 2016., [DOI:10.1016/j.ifacol.2016.07.155]
- G. Bianchini, M. Casini, A. Vicino, D. Zarrilli, "Receding Horizon Control for Demand-Response Operation of Building Heating Systems", Proc. 53th IEEE Conf. on Decision and Control, pp. 4862-4867, Los Angeles, California, USA, Dec., 2014., [DOI:10.1109/CDC.2014.7040148]
- M. Casini, A. Garulli, A. Vicino, "A constraint selection technique for set membership estimation of time-varying parameters", Proc. 53rd IEEE Conf. on Decision and Control, pp. 1029-1034, Los Angeles, California, USA, Dec., 2014., [DOI:10.1109/CDC.2014.7039517]
- M. Casini, A. Garulli, A. Vicino, "A constraint selection technique for recursive set membership identification", Preprints 19th IFAC World Congress, pp. 1790-1795, Cape Town, South Africa, Aug., 2014., [DOI:10.3182/20140824-6-ZA-1003.01077]
- M. Casini, A. Garulli, A. Giannitrapani, A. Vicino, "Remote pursuer-evader experiments with mobile robots in the Automatic Control Telelab", Preprints 10th IFAC Symposium on Advances in Control Education, pp. 66-71, Sheffield, UK, Aug., 2013., [DOI:10.3182/20130828-3-UK-2039.00020]
- M. Casini, A. Garulli, A. Vicino, "Bounding nonconvex feasible sets in set membership identification: OE and ARX models with quantized information", Preprints 16th IFAC Symposium on System Identification, pp. 1191-1196, Brussels, Belgium, July, 2012., [DOI:10.3182/20120711-3-BE-2027.00189]
- M. Casini, A. Garulli, A. Giannitrapani, A. Vicino, "A Remote Lab for Multi-Robot Experiments with Virtual Obstacles", Preprints 9th IFAC Symposium on Advances in Control Education, pp. 354-359, Nizhny Novgorod, Russia, June, 2012., [DOI:10.3182/20120619-3-RU-2024.00052]
- M. Casini, A. Garulli, A. Vicino, "Set-membership identification of ARX models with quantized measurements", Proc. 50th IEEE Conf. on Decision and Control, pp. 2806-2811, Orlando, Florida, USA, Dec., 2011., [DOI:10.1109/CDC.2011.6160600]
- S. Paoletti, M. Casini, A. Giannitrapani, A. Facchini, A. Garulli, A. Vicino, "Load forecasting for active distribution networks", Proc. 2nd IEEE PES Innovative Smart Grid Technologies 2011 Europe, Manchester, United Kingdom, Dec., 2011., [DOI:10.1109/ISGTEurope.2011.6162780]
- M. Casini, A. Garulli, A. Giannitrapani, A. Vicino, "A LEGO Mindstorms multi-robot setup in the Automatic Control Telelab", Proc. 18th IFAC World Congress, pp. 9812-9817, Milano, Italy, Aug., 2011., [DOI:10.3182/20110828-6-IT-1002.02080]
- M. Casini, A. Garulli, A. Giannitrapani, A. Vicino, "A Matlab-based Remote Lab for Multi-Robot Experiments", 8th IFAC Symposium on Advances in Control Education, Kumamoto, Japan, Oct., 2009., [DOI:10.3182/20091021-3-JP-2009.00031]
- D. Benedettelli, M. Casini, A. Garulli, A. Giannitrapani, A. Vicino, "A LEGO Mindstorms Experimental Setup for Multi-Agent Systems", Proc. 3rd IEEE Multi-Conference on Systems and Control, pp. 1230-1235, Saint Petersburg, Russia, July, 2009., [DOI:10.1109/CCA.2009.5280717]
- M. Casini, A. Garulli, A. Vicino, "Input Design for Worst-case System Identification with Uniformly Quantized Measurements", Proc. 15th IFAC Symposium on System Identification, pp. 54-59, Saint-Malo, France, July, 2009., [DOI:10.3182/20090706-3-FR-2004.00008]
- M. Casini, A. Garulli, A. Vicino, "Optimal Input Design for Identification of Systems with Quantized Measurements", Proc. 47th IEEE Conf. on Decision and Control, pp. 5506-5512, Cancun, Mexico, Dec., 2008., [DOI:10.1109/CDC.2008.4739045]
- M. Casini, F. Chinello, D. Prattichizzo, A. Vicino, "RACT: a Remote Lab for Robotics Experiments", Proc. 17th IFAC World Congress, pp. 8153-8158, Seoul, South Korea, July, 2008., [DOI:10.3182/20080706-5-KR-1001.01377]
- M. Casini, A. Garulli, A. Vicino, "Time Complexity and Input Design in Worst-Case Identification Using Binary Sensors", Proc. 46th IEEE Conf. on Decision and Control, pp. 5528-5533, New Orleans, Louisiana, USA, Dec., 2007., [DOI:10.1109/CDC.2007.4434445]
- M. Casini, A. Garulli, A. Vicino, "An efficient algorithm for the construction of l1 uncertainty model sets", Proc. of the European Control Conference (ECC'07), pp. 2721-2727, Kos, Greece, July, 2007., [DOI:10.23919/ECC.2007.7068271]
- M. Casini, C. Mocenni, S. Paoletti, M. Pranzo, "Model-based decision support for integrated management and control of coastal lagoons", Proc. of the European Control Conference (ECC'07), pp. 2242-2249, Kos, Greece, July, 2007., [DOI:10.23919/ECC.2007.7068805]
- M. Casini, D. Prattichizzo, A. Vicino, "Increasing remote labs reliability and efficiency by using a live CD", Proc. 7th IFAC Symposium on Advances in Control Education, Madrid, Spain, June, 2006., [DOI:10.3182/20060621-3-ES-2905.00033]
- M. Casini, A. Garulli, A. Vicino, "Error Bounds for FIR Models in Conditional Set-Membership Identification", Proc. 16th IFAC World Congress, Prague, Czech Republic, July, 2005., [DOI:978-0-08-045108-4]
- M. Casini, A. Leva, F. Schiavo, "AIRES: a Standard for Web-based Remote Experiments", Proc. 16th IFAC World Congress, Prague, Czech Republic, July, 2005., [DOI:10.3182/20050703-6-CZ-1902.02278]
- M. Casini, C. Mocenni, S. Paoletti, A. Vicino, "A Decision Support System for the Management of Coastal Lagoons", Proc. 16th IFAC World Congress, Prague, Czech Republic, July, 2005., [DOI:10.3182/20050703-6-CZ-1902.02182]
- M. Ishutkina, E. Feron, M. Casini, A. Vicino, "An Internet Based Laboratory for Control of a Safety Critical System", Proc. IEEE International Conference on Systems, Man and Cybernetics, Vol. 3, pp. 2707-2712, The Hague, The Netherlands, Oct., 2004., [DOI:10.1109/ICSMC.2004.1400740]
- M. Casini, D. Prattichizzo, A. Vicino, "Remote Control of a Lego Mobile Robot through the Web", Preprints 2nd IFAC Workshop on Internet Based Control Education, Grenoble, France, Sep., 2004.
- F. Carusi, M. Casini, D. Prattichizzo, A. Vicino, "Distance Learning in Robotics and Automation by Remote Control of Lego Mobile Robots", Proc. IEEE International Conference on Robotics and Automation, pp. 1820-1825, New Orleans, Louisiana, USA, Apr., 2004., [DOI:10.1109/ROBOT.2004.1308088]
- M. Casini, A. Garulli, A. Vicino, "On Optimal Input Design in Conditional Set Membership Identification", Proc. 42nd IEEE Conf. on Decision and Control, pp. 6497-6502, Maui, Hawaii, Dec., 2003., [DOI:10.1109/CDC.2003.1272394]
- M. Casini, A. Garulli, D. Prattichizzo, A. Vicino, "Remote System Identification in the Automatic Control Telelab Environment", Proc. 42nd IEEE Conf. on Decision and Control, pp. 4956-4961, Maui, Hawaii, Dec., 2003., [DOI:10.1109/CDC.2003.1272409]
- M. Casini, D. Prattichizzo, A. Vicino, "E-Learning by Remote Laboratories: a New Tool for Control Education", Preprints 6th IFAC Symposium on Advances in Control Education, pp. 95-100, Oulu, Finland, June, 2003., [DOI:10.1016/S1474-6670(17)33657-1]
- M. Casini, A. Garulli, A. Vicino, "On Worst-Case Approximation of Feasible System Sets via Orthonormal Basis Functions", Proc. 40th IEEE Conf. on Decision and Control, pp. 2695-2700, Orlando, Florida, USA, Dec., 2001., [DOI:10.1109/CDC.2001.980678]
- M. Casini, D. Prattichizzo, A. Vicino, "The Automatic Control Telelab: a Remote Control Engineering Laboratory", Proc. 40th IEEE Conf. on Decision and Control, pp. 3242-3247, Orlando, Florida, USA, Dec., 2001., [DOI:10.1109/CDC.2001.980319]
National Journal Papers- M. Casini, D. Prattichizzo, A. Vicino, "ACT: un Laboratorio Remoto per l'Ingegneria dei Controlli", BIAS Automazione e Strumentazione, 50(4), pp. 142-145, 2002.
National Conferences- M. Casini, D. Prattichizzo, A. Vicino, "A remote lab for control of physical processes", Didamatica 2013 - Atti, pp. 803-812, Pisa, Italy, May, 2013.
- S. Paoletti, A. Quadrelli, M. Casini, A. Giannitrapani, A. Vicino, A. Facchini, A. Garulli, R. Rossi, G. Petretto, S. Scalari, "Predizione del carico e della generazione distribuita per reti di distribuzione attive", Convegno Nazionale AEIT 2011 - Atti, Milano, Italy, June, 2011.
- M. Casini, D. Prattichizzo, A. Vicino, "Automatic Control Telelab: un Laboratorio Remoto per E-learning", Didamatica 2002 - Atti, pp. 233-240, Naples, Italy, Feb., 2002.
Patents- R. Benocci, M. Casini, A. Massai, C. Meniconi, A. Facchini, "Sistema integrato di rilevazione psicoergometrica", Dec., 2008., Number: 0000261266. Modello di utilità.
Thesis- M. Casini, "Set-Membership Estimation: an Advanced Tool for System Identification", Ph.D. Thesis, Università degli Studi di Siena, Italy, Apr., 2003.
- M. Casini, "Analisi e Progetto di un Tele-Laboratorio per il Controllo in Rete di Processi Dinamici", Master Thesis, Università degli Studi di Siena, Siena, Italy, June, 1999.
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