1.       Sagoo, G., K., Gururajan, S., Seanor B., Napolitano, M., R., Perhinschi, M., G., Gu. Y., Campa, G. “Evaluation of a Fault Tolerant Scheme in a 6-DOF Motion Flight Simulator”, AIAA Journal of Aerospace Computing, Information and Communication, Accepted October 2009.

2.       Fravolini, M., L., Campa, G., “Design of Robust Redundancy Relations with Application to a Semi-Scale Yf-22 Research Aircraft Model”, Control Engineering Practice, Volume 17, Issue 7, July 2009, Pages 773-786.

3.       Fravolini, M., L., Campa, G., Napolitano, M. R., “An Explicit Feedforward and Feedback Technique for Flight Control Systems of High Performance Aircrafts”, Automatic Control in Aerospace, Year 2, No. 1, June 2009.

4.       Campa, G., Napolitano, M. R., Fravolini, M. L., "A Simulation Environment for Machine Vision Based Aerial Refueling for UAV", IEEE Transaction on Aerospace and Electronic Systems, pp 138-151, Vol.45, No 1, January 2009.

5.       Mammarella, M., Campa, G., Napolitano, M. R., Fravolini, M. L., Perhinschi M. G., Gu, Y., "Machine Vision / GPS Integration Using EKF for the UAV Aerial Refueling Problem", IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, pp 791-801, Vol. 38, No. 6, November 2008.

6.       Fravolini, M. L., Campa, G., Brunori, V., Napolitano, M.R., La Cava, M., “A structural analysis approach for the generation of structured residuals for aircraft FDI”, Submitted to: IEEE Transaction On Aerospace and Electronic Systems, Accepted May 2008, Final proof copy submitted June 2008.

7.       Fravolini, M. L., Campa, G., Ficola, A., Napolitano, M. R., Seanor, B. "Modeling and Performance Analysis of Machine Vision-Based Semi-Autonomous Aerial Refuelling", International Journal of Modeling Identification and Control, Vol. 3, No. 4, 2008

8.       Mammarella, M., Campa, G., Napolitano, M. R., Fravolini, M. L., "Comparison of Point Matching Algorithms for the UAV Aerial Refueling Problem", Machine Vision and Applications, Published online 12 June 2008

9.       Perhinschi, M. G., Napolitano, M.R., Campa, G., “A simulation environment for design and testing of adaptive fault-tolerant control systems”, Aircraft Engineering and Aerospace Technology, Vol 80, No 6, 2008.

10.   Campa, G., Thiagarajan, M., Krishnamurty, M., Napolitano, M. R., Gautam, M., "A Neural Network Based Sensor Validation Scheme for Heavy-Duty Diesel Engines", ASME Journal of Dynamic Systems, Measurement and Control, pp 021008-1 to 021008-10, Vol 130, March 2008.

11.   Perhinschi, M. G., Napolitano, M. R., Campa, G., Fravolini, M. L., Seanor, B., "Integration of Sensor and Actuator Failure Detection, Identification, and Accommodation Schemes Within Fault Tolerant Control Laws", Control and Intelligent Systems, Vol 35, issue 4, 2007

12.   Vendra, S., Campa, G., Napolitano, M. R., Mammarella, M., Fravolini, M., L., Perhinschi M. G., "Addressing Corner Detection Issues for Machine Vision based UAV Aerial Refueling", Machine Vision and Application, pp 261-273, Volume 18, Number 5, October, 2007.

13.   Fravolini, M. L., Campa, G., Napolitano, M. R., "Evaluation of Machine Vision Algorithms for Autonomous Aerial Refueling for Unmanned Aerial Vehicles", AIAA Journal of Aerospace Computing, Information and Communication, Vol. 4, No. 9, September 2007.

14.   Campa, G., Mammarella, M., Napolitano, M. R., Fravolini, M. L., Pollini, L., Perhinschi, M., "Addressing Pose Estimation Issues for Machine Vision based UAV Autonomous Aerial Refueling", The Aeronautical Journal, pp 389-396, June 2007.

15.   Campa, G., Gu, Y., Seanor, B., Napolitano, M. R., Pollini, L., Fravolini, M. L., "Design And Flight Testing Of Nonlinear Formation Control Laws", Control Engineering Practice, pp 1077-1092, Vol. 15, Issue 9, September 2007.

16.   Dell’ Aquila, R., Campa, G., Napolitano, M. R., Mammarella, M., “Real-Time Machine-Vision-Based Position Sensing System for UAV Aerial Refueling”, Journal of Real-Time Image Processing, pp 213-224, Vol 1, No 3, April, 2007.

17.   Gu, Y., Seanor, B., Campa, G., Napolitano, M. R., Rowe, L., Gururajan, S., Wan, S. "Design And Flight Testing Evaluation Of Formation Control Laws", IEEE Transactions on Control Systems Technology, Vol.14, No 6, pp 1105-1112, November 2006.

18.   Perhinschi, M. G., Napolitano, M. R., Campa, G., Seanor, B., Burken J., Larson R., "An Adaptive Threshold Approach for the Design of an Actuator Failure Detection and Identification Scheme", IEEE Transactions on Control Systems Technology, Vol.14, No 3, pp 519-525, May 2006.

19.   Perhinschi M. G., Napolitano M.R., Campa G., Seanor B., Burken J., Larson R., "Design Of Safety Monitor Schemes For A Fault Tolerant Flight Control System", IEEE Transactions on Aerospace and Electronic Systems, Vol. 42, Issue2, pp 562-571, Apr 2006.

20.   Perhinschi, M. G., Campa, G., Napolitano, M. R., Lando, M., Massotti, L., Fravolini, M. L., "Modeling and Simulation of Closed Loop Aircraft/Fault Tolerant Control System", International Journal of Modeling and Simulation, Vol. 26, No 1, 2006.

21.   Fravolini, M. L., Ficola, A., Campa, G., Napolitano, M. R., Seanor, B., “Modeling and control issues for autonomous aerial refueling for UAVs using a probe–drogue refueling system", Aerospace Science and Technology Vol. 8, No. 7, pp 611-618, October 2004.

22.   Fravolini, M. L., Campa, G., Napolitano, M. R., Perhinschi, M. G. "A Learning Based Sensor Validation Scheme Within Flight Control Laws", AIAA Journal of Guidance, Control, and Dynamics, Vol 27, #2, pp 307-310, March-April 2004.

23.   Campa, G., Wan, S., Napolitano, M. R., Seanor, B., Fravolini, M. L., “Design of Formation Control Laws for Maneuvered Flight”, The Aeronautical Journal, pp 125-134, March 2004.

24.   Campa, G., Fravolini, M. L., Napolitano, M. R., Del Gobbo, D, Seanor, B., Gu Yu, Gururajan, S., "On-Line Learning Neural Networks for Sensor Validation of a B777 Flying Model", International Journal of Robust and Nonlinear Control 12, pp 987-1007, Dec 2002.

25.   Song, Y., Campa, G., Napolitano, M. R., Seanor, B., Perhinschi, M. G., “Comparison of On-Line Parameter Estimation Techniques Within a Fault Tolerant Flight Control System”, AIAA Journal of Guidance, Control, and Dynamics, Vol 25, #3, pp 528-537, May-June 2002.

26.   Davini, M, Campa, G., Innocenti, M., “MVTOOLS Multivariable Systems Toolbox”, Info@Teoresi Newsnotes, March 2000, (in Italian).

27.   Campa, G., Wilkie, J., Innocenti, M., “Robust Control and Analysis of a Towed Underwater Vehicle”, International Journal of Adaptive Control and Signal Processing, 12, pp 689-716 (1998).

1.    Fravolini, M., L., Campa, G., “Design of Robust Redundancy Relations with Application to a Semi-Scale Yf-22 Research Aircraft Model”, Submitted to: Control Engineering Practice, November 2007. First Revision sent October 2008.

3.       Mammarella, M, Campa, G, Fravolini M. L., Gu, Y., Napolitano M. R., Seanor B. “A comparison of Optical Flow algorithms for use within Real-time applications”, IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, Submitted December 2008.

4.       Mammarella, M., Campa, G., Fravolini, M. L., Napolitano, M. R., “Bounding Set Calculation for Neural Network Based Direct Adaptive Control Systems”, IEEE Transaction on Neural Networks, Submitted October 2008.

5.       Campa, G., Napolitano, M. R., Fravolini M. L., “A Novel Characterization of the UUB set of Adaptive Control Systems”, IEEE Transaction on Automatic Control, October 2009.

1.       

1.       Phillips, K., Campa, G., Gururajan, S., Seanor, B., Napolitano, M., R., Gu, Y., Fravolini, M.L, “Parameter Identification for Application within a Fault-Tolerant Flight Control System”, AIAA Atmospheric Flight Mechanics Conference, 10-13 Aug 2009, Hyatt Regency McCormick Place, Chicago, IL, USA.

2.       Mammarella, M., Campa, G., Napolitano, M.R., Seanor, B., Fravolini, M.L, Pollini, L., “GPS / MV based Aerial Refueling for UAVs”, AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Village, Aug. 18-21, 2008, HI, USA.

3.       Mammarella, M., Campa, G., Fravolini, M.L, Gu., Y., Seanor, B., Napolitano, M.R., “A Comparison of Optical Flow algorithms for Real Time Aircraft Guidance and Navigation”, AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Village, Aug. 18-21, 2008, HI, USA.

4.       Campa, G., Mammarella, Cukic, B., Gu., Y., Napolitano, M.R., Fuller, E., Fravolini, M.L,  “Calculation of Bounding Sets for Neural Network Based Adaptive Control Systems”, AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Village, Aug. 18-21, 2008, HI, USA.

5.       Gu., Y., Sagoo, G.K., Seanor, B., Campa, G., Napolitano, M.R., “Curvature-Velocity-Orientation Method for UAV Collision Avoidance”, AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Village, Aug. 18-21, 2008, HI, USA.

6.       Sagoo, G.K., Gururajan, S., Napolitano, M.R., Perhinschi, M.G., Gu., Y., Seanor, B., Campa, G., “Pilot-in-the-Loop Assessment of Neurally Augmented Dynamic Inversion Based Fault Tolerant Control Laws in a Motion-Based Flight Simulator”, AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Village, Aug. 18-21, 2008, HI, USA.

7.       Fravolini, M.L, Campa, G., Napolitano, M.R., “Design of Redundancy Relations for Unmanned Aerial Vehicle FDI”, AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Village, Aug. 18-21, 2008, HI, USA.

8.       Campa, G., Cukic, B., Napolitano, M., “Bounds Computation for Adaptive Systems V&V", NASA Sixth Annual Software Assurance Symposium (SAS 06), July 18-20 2006, Morgantown, WV, USA.

9.       Yerramalla S., Cukic, B., Campa, G., Napolitano, M., Fuller, E. “Stability Monitoring and Analysis of Learning in Adaptive Systems", Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

10.   Mati, R., Pollini L., Lunghi A., Innocenti, M., Campa, G., “Vision Based Autonomous Probe and Drogue Aerial Refueling", Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

11.   Perhinschi M. G., Burken J., Campa G., "Comparison of Different Neural Augmentations for the Fault Tolerant Control Laws of the WVU YF-22 Model Aircraft", Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

12.   Fravolini, M. L., Brunori V., Ficola, A., La Cava M., Campa, G., “Feature Matching Algorithms for Machine Vision Based Autonomous Aerial Refueling", Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

13.   Campa, G., Krishnamurthy, M., Gautam, M., Napolitano, M., R., Perhinschi, M. G., “A Neural Network Sensor Validation Scheme for Heavy Duty Diesel Engines”, Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

14.   Seanor, B., Gu, Y., Napolitano, M. R., Campa, G., Gururajan, S., Rowe, L., "3 Aircraft Formation Flight Experiment", Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

15.   Gu, Y., Seanor, B., Campa, G., Napolitano, M. R., Rowe, L., Gururajan, S., "Autonomous Formation Flight: Hardware Development", Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

16.   Campa, G., Mammarella, M., Napolitano, M. R., Fravolini, M. L., Pollini, L., Stolarik, B., "A comparison of Pose Estimation algorithms for Machine Vision based Aerial Refueling for UAV", Mediterranean Control Conference 2006, June 28-30 2006, Ancona, Italy.

17.   Campa, G., Krishnamurthy, M., Carder, D., Napolitano, M., R., Gautam, M., “Sensor Failure Detection, Identification and Accommodation (SFDIA) Scheme for Heavy Duty Diesel Engine”, Session 6 of the 16th CRC On-Road Vehicle Emissions Workshop, San Diego March 28-30, 2006

18.   Campa, G., Seanor, B., Gu, Y., Napolitano, M. R., “NLDI Guidance Control Laws For Close Formation Flight”, American Control Conference 2005, June 7-10, 2005 Portland OR, USA.

19.   Campa, G., Fravolini, M. L., Ficola, A., Napolitano, M. R., Seanor, B., Perhinschi, M. G., “Autonomous Aerial Refueling For Uavs Using A Combined Gps-Machine Vision Guidance”, AIAA Guidance Navigation and Control Conference 2004, Aug 16-19, 2004 Providence, RI, USA.

20.   Perhinschi, M. G., Napolitano, M. R., Campa, G., “A Simulation Environment For Testing And Research Of Neurally Augmented Fault Tolerant Control Laws Based On Non-Linear Dynamic Inversion”, AIAA Modeling and Simulation Technologies Conference 2004, Aug 16-19, 2004 Providence, RI, USA.

21.   Perhinschi, M. G., Napolitano, M. R., Campa, G., Burke., H.E., Larson, D., Burken, J.. “Design and Testing of a Safety Monitor Scheme on the NASA Gen_2 IFCS F-15 Flight Simulator”, AIAA 1^st Intelligent Systems Technical Conference, 20-22 September 2004, Chicago, IL, USA.

22.   Perhinschi, M. G., Napolitano, M. R., Campa, G., Seanor, B., Gururajan, S., "Design of Intelligent Flight Control Laws for the WVU YF-22 Model Aircraft", AIAA 1^st Intelligent Systems Technical Conference, 20-22 September 2004, Chicago, IL, USA.

23.   Seanor, B., Campa, G., Gu, Y., Napolitano, M. R., Rowe, L., Perhinschi, M. G., "Formation Flight Test Results for UAV Research Aircraft Models", AIAA 1^st Intelligent Systems Technical Conference, 20-22 September 2004, Chicago, IL, USA.

24.   Perhinschi, M. G., Burken, J., Napolitano, M. R., Campa, G., Fravolini, M. L., “Performance Comparison of Different Neural Network Augmentation for the NASA Gen_2 IFCS F-15 Control Laws” American Control Conference 2004, June30-July2, 2004 Boston MA, USA.

25.   Campa, G., Napolitano, M. R., Seanor, B., Perhinschi, M. G., “Design of Control Laws For Maneuvered Formation Flight”, American Control Conference 2004, June30-July2, 2004 Boston MA, USA.

26.   Campa, G., Fravolini, M. L., Napolitano, M. R., Perhinschi, M. G., Battipede, M., “A Stochastically Optimal Feedforward and Feedback Technique for Flight Control Systems of High Performance Aircrafts”, American Control Conference 2004, June30-July2, 2004 Boston MA, USA.

27.   Fravolini, M. L., Ficola, A., Napolitano, M. R., Campa, G., Perhinschi, M. G., “Development of Modeling and Control Tools for Aerial Refueling of UAVs”, AIAA Guidance Navigation and Control Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

28.   Wan, S., Campa, G., Napolitano, M. R., Seanor, B., " Design of Formation Control Laws for Research Autonomous Aircraft Models", AIAA Guidance Navigation and Control Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

29.   Perhinschi, M. G., Napolitano, M. R., Stolarik, B., Campa, G., Steve Rogers, Sonny Hammaker, “Design of Safety Monitor Schemes for a Fault Tolerant Flight Control System”, AIAA Guidance Navigation and Control Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

30.   Perhinschi, M. G., Napolitano, M. R., Campa, G., Fravolini, M. L., “Primary Control Surface Failure Detection and Identification Scheme”, AIAA Guidance Navigation and Control Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

31.   Perhinschi, M. G., Napolitano, M. R., Campa, G., Fravolini, M. L., “Integration of Fault Tolerant Systems for Sensor and Actuator Failures within the WVU NASA F-15 Simulator”, AIAA Guidance Navigation and Control Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

32.   Battipede, M., Gili, P., Lando, M., Napolitano, M. R., Perhinschi, M. G., Campa, G. “Comparative Analysis of Neural Control Systems within the NASA IFCS F-15 WVU Simulator”, AIAA Guidance Navigation and Control Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

33.   Pollini, L., Campa, G., Giulietti, F., Innocenti, M., “Virtual Simulation Set-Up for UAVs Aerial Refuelling” AIAA Modeling and Simulation Technologies Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

34.   Pollini, L., Roberto Mati, Innocenti, M., Campa, G., Napolitano, M. R., “A Synthetic Environment for Simulation of Vision-Based Formation Flight”, AIAA Modeling and Simulation Technologies Conference 2003, Aug 11-14, 2003 Austin, TX, USA.

35.   Battipede, M., Gili, P., Napolitano, M. R., Perhinschi, M. G. Campa, G. “Performance in Different Failure Conditions of the Predictor-Corrector Neural Controller within the NASA IFCS F-15 WVU Simulator”, American Control Conference 2003, June 4-6, 2003 Denver CO, USA.

36.   Perhinschi, M. G., Napolitano, M. R., Campa, G., Fravolini, M. L., Massotti, L., Lando, M. “Augmentation of a Non Linear Dynamic Inversion Scheme within the NASA IFCS F-15 WVU Simulator” American Control Conference 2003, June 4-6, 2003 Denver CO, USA.

37.   Perhinschi, M. G., Campa, G., Napolitano, M. R., Fravolini, M. L., Lando, M., Massotti, L. “Performance Comparison of Fault Tolerant Control Laws Within the NASA IFCS F-15 WVU Simulator”, American Control Conference 2003, June 4-6, 2003 Denver CO, USA.

38.   Battipede, M., Gili, P., Lando, M., Massotti, L., Napolitano, M. R., Campa, G., Perhinschi, M. G., “Post-Failure Analisys of an Adaptive Predictor-Corrector Neural Controller on a Flight Simulator”, European Symposium on Artificial Neural Networks, Apr 23-25, 2003 Bruges, Belgium.

39.   Campa, G., Fravolini, M. L., Napolitano, M. R., “A Library of Adaptive Neural Networks for Control Purposes”, IEEE International Symposium on Computer Aided Control System Design, September 18-20, 2002 Glasgow, Scotland, UK.

40.   Perhinschi, M. G., Campa, G., Napolitano, M. R., Lando, M., Massotti, L., Fravolini, M. L., "A Simulation Tool for On-line Real-Time Parameter Identification", AIAA Guidance Navigation and Control Conference 2002, Aug 8-10, 2002 Monterey, CA, USA.

41.   Perhinschi, M. G., Campa, G., Napolitano, M. R., Lando, M., Massotti, L., Fravolini, M. L., " Modeling and Simulation of Failures for Primary Control Surfaces", AIAA Guidance Navigation and Control Conference 2002, Aug 8-10, 2002 Monterey, CA, USA.

42.   Wan, S., Campa, G., Napolitano, M. R., Fravolini, M. L., " On-line Learning RBF Neural Networks for Sensor Validation", AIAA Guidance Navigation and Control Conference 2002, Aug 8-10, 2002 Monterey, CA, USA.

43.   Fravolini, M. L., Campa, G., Napolitano, M. R., Michele La Cava, "Comparison of Different Growing Radial Basis Functions Algorithms for Control Systems Applications", American Control Conference 2002, May 8-10, 2002 Anchorage, AK, USA.

44.   Perhinschi, M. G., Lando, M., Massotti, L., Campa, G., Napolitano, M. R., Fravolini, M. L., "On-Line Parameter Estimation Issues for the NASA IFCS F-15 Fault Tolerant Systems", American Control Conference 2002, May 8-10, 2002 Anchorage, AK, USA.

45.   Campa, G., Napolitano, M. R., Seanor, B., Fravolini, M. L., Yongkyu Song “Application of an Improved LWR Method to Real-Time Aircraft Parameter Identification Problems”, American Control Conference 2002, May 8-10, 2002 Anchorage, AK, USA.

46.   Campa, G., Fravolini, M. L., Napolitano, M. R., Seanor, B., “Neural Networks-Based Sensor Validation for the Flight Control System of a B777 Research Model”, American Control Conference 2002, May 8-10, 2002 Anchorage, AK, USA.

47.   Campa, G., Fravolini, M. L., Napolitano, M. R., "Extended Minimal Resource Allocating Networks for Aircraft SFDIA", ANNIE 2001, Smart Engineering System Design Conference, November 4-7 2001, Rolla, MO, USA.

48.   Seanor, B., Napolitano, M. R., Campa, G., "Comparison of on-line and off-line Parameter Estimation Techniques using the NASA F/A-18 HARV Flight Data", AIAA Atmospheric Flight Mechanics Conference, August 6-9, 2001, Montreal, Quebec, Canada

49.   Campa, G., Fravolini, M. L., Yongkyu Song, Napolitano, M. R., Seanor, B., "An improved LWR Method for On-Line Aircraft Parameter Estimation Problems", Preprints of the IFAC Symposium on Automatic Control in Aerospace, September 2-7, 2001 Bologna, Italy.

50.   Fravolini, M. L., Campa, G., Napolitano, M. R., Yongkyu Song, "Minimal Resource Allocating Networks for Aircraft SFDIA", IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 8-11, 2001, Como, Italy.

51.   Fravolini, M. L., Campa, G., Napolitano, M. R., "A Neural Network Based Tool for Aircraft SFDIA Modeling and Simulation", IASTED International Conference on Modeling and Simulation, May 16-18, 2001, Pittsburgh, PA, USA.

52.   Campa, G., Massimo Davini, Innocenti, M., “MvTools: Multivariable System Toolbox”, IEEE International Symposium on Computer Aided Control System Design, September 25-27, 2000 Anchorage, AK, USA.

53.   Campa, G., Innocenti, M., “Vectorization Blocks for Simulink”, AIAA Modeling and Simulation Technologies Conference, August 14-17, 2000, Denver CO, USA.

54.   Campa, G., Sharma, M., Calise, A., Innocenti, M., “Neural Network Augmentation of Linear Controllers with Application to Underwater Vehicles”, American Control Conference 2000, June 28-30, 2000 Chicago IL, USA.

55.   Campa, G., Innocenti, M., “Robust control of Underwater Vehicles: Sliding Mode Control vs. LMI Synthesis”, American Control Conference 1999, June 2-4, 1999 San Diego CA, USA.

56.   Campa, G., Innocenti, M., Francesco Nasuti, “Robust control of Underwater Vehicles: Sliding Mode Control vs. Mu Synthesis”, Oceans ’98 conference (IEEE), Sept 29 – Oct 2 1998, Nice, FR. 

57. Campa, G., Innocenti, M., Jacqueline Wilkie, “Model Based robust control for a towed underwater vehicle”, Guidance Navigation and Control Conference (AIAA), July 28-31, 1996, San Diego CA, USA.

Giampiero Campa, “Multivariable Systems: Tools for Modeling, Simulation, Analysis, and Robust Control Synthesis”, Ph.D. Thesis, December 1999.

Giampiero Campa, “Controllo Hinf per un Veicolo Sottomarino Trainato”, Ms. Thesis, (in Italian) July 15 1996.