Publications

2025

• Bias correction and instrumental variables for direct data-driven model-reference control
  2025 European Control Conference (ECC)
  M. Mejari, V. Breschi, S. Formentin, D. Piga
• Physics-aware learning of vehicle speed from accelerometer data
  2025 European Control Conference (ECC)
  F. Dettù, S.C. Strada S. Formentin, S.M. Savaresi
• Univariate Hawkes-based cryptocurrency forecasting via LOB data
  2025 European Control Conference (ECC)
  R. G. Cestari, F. Barchi, R. Busetto, D. Marazzina, S. Formentin
• Enhancing portfolio covariance estimation: a hybrid prediction approach
  2025 European Control Conference (ECC)
  R. G. Cestari, S. Chiodini, S. Formentin
• Automating the loop in traffic incident management on highway
  7th Annual Learning for Dynamics & Control Conference, Ann Arbor, Michigan, USA, 2025
  M. Cercola, N. Gatti, P. Huertas Leyva, B. Carambia, S. Formentin
• An Inverse Learning Paradigm for Controller Tuning Rules
  Automatica, 2025
  B. Lakshminarayanan, F. Dettù, C.R. Rojas, S. Formentin
• Control-oriented modeling for MPC of water reservoir systems
  International Journal of Control, 2025
  R. G. Cestari, A. Castelletti, S. Formentin
• Non-linear multi-objective Bayesian MPC of water reservoir systems
  European Journal of Control, Volume 83, May 2025
  R. G. Cestari, A. Castelletti, S. Formentin
• Explainable data-driven modeling via mixture of experts: towards effective blending of grey and black-box models
  Automatica, vol. 173, pages 1-15, March 2025
  J. Leoni, V. Breschi, S. Formentin, M. Tanelli
• Harnessing the Final Control Error for Optimal Data-Driven Predictive Control
  Automatica, vol. 173, pages 1-14, March 2025
  A. Chiuso, M. Fabris, V. Breschi, S. Formentin
• Meta-learning for model-reference data-driven control
  Automatica, vol. 172, pages 1-13, February 2025
  R. Busetto, V. Breschi, S. Formentin

2024

• A jump start to stock trading research for the uninitiated control scientist: a tutorial
  2024 IEEE 63rd Conference on Decision and Control (CDC)
  B. Ross Barmish, S. Formentin, C.H. Hsieh, A.V. Proskurnikov, S. Warnick
• Automated Data-Driven MPC Design for a Class of Nonlinear Systems
  2024 IEEE 63rd Conference on Decision and Control (CDC)
  G. Yang, M. Scandella, S. Formentin, T. Parisini
• MPC with adaptive resilience for Denial-of-Service Attacks mitigation on a Regulated Dam
  2024 IEEE 63rd Conference on Decision and Control (CDC)
  R. G. Cestari, S. Longari, S. Zanero, S. Formentin
• A comparison of indirect and direct filter designs from data for LTI systems: the effect of unknown noise covariance matrices
  20th IFAC Symposium on System Identification SYSID 2024: Boston, United States, July 17–19, 2024
  M. Mazzoleni, L. Maurelli, S. Formentin, F. Previdi
• Efficient tuning for motion control in diverse systems: a Bayesian framework
  20th IFAC Symposium on System Identification SYSID 2024: Boston, United States, July 17–19, 2024
  E. Catenaro, L. Aarnoudse, S. Formentin, T. Oomen
• Split-boost neural networks
  20th IFAC Symposium on System Identification SYSID 2024: Boston, United States, July 17–19, 2024
  R. G. Cestari, G. Maroni, L. Cannelli, D. Piga, S. Formentin
• Vertical load estimation in tractors via in-wheel optical sensing
  20th IFAC Symposium on System Identification SYSID 2024: Boston, United States, July 17–19, 2024
  R. G. Cestari, A. Lucchini, E. Leati, M. Norgia, S. Formentin, S. M. Savaresi
• Data-driven explicit predictive control with limited resources: an exploration-based strategy
  20th IFAC Symposium on System Identification SYSID 2024: Boston, United States, July 17–19, 2024
  A. Sassella, V. Breschi, S. Formentin
• Iterative Feedback Tuning with automated reference model selection
  20th IFAC Symposium on System Identification SYSID 2024: Boston, United States, July 17–19, 2024
  T. Ickenroth, V. Breschi, T. Oomen, S. Formentin
• Model predictive control for multi-period portfolio optimization: a trading-oriented learning approach
  International Journal of Control, vol. 1, pages 1-11, June 2024
  F. Abbracciavento, F. Tappi, S. Formentin
• Machine learning based car accident risk prediction for usage-based insurance
  Intelligent Data Analysis, vol. 1, pages 1-18, June 2024
  S.C. Strada, E. Costantini, S. Formentin, S.M. Savaresi, C. De Tommasi
• The Twin-in-the-Loop Approach for Vehicle Dynamics Control
  IEEE/ASME Transactions on Mechatronics, vol. 29, no. 2, pages 1217-1228, April 2024
  F. Dettù, S. Formentin, S.M. Savaresi
• From data to control: a two-stage simulation-based approach
  2024 European Control Conference (ECC), 2024
  F. Dettù, B. Lakshminarayanan, S. Formentin, C.R. Rojas
• AAutomated Data-Driven Tuning of Learning-Based Model Predictive Control (SelfMPC): A Maximum-Likelihood Approach
  2024 European Control Conference (ECC), 2024
  G. Yang, M. Scandella, S. Formentin, T. Parisini
• AAutomated Data-Driven Tuning of Learning-Based Model Predictive Control (SelfMPC): A Maximum-Likelihood Approach
  2024 European Control Conference (ECC), 2024
  G. Yang, M. Scandella, S. Formentin, T. Parisini

2023

• META-SMGO-Δ: Similarity as a Prior in Black-Box Optimization
  2023 62nd IEEE Conference on Decision and Control (CDC), 2023
  R. Busetto, V. Breschi, S. Formentin
• On the impact of regularization in data-driven predictive control
  2023 62nd IEEE Conference on Decision and Control (CDC), 2023
  V. Breschi, A. Chiuso, M. Fabris, S. Formentin
• Joint vehicle state and parameters estimation via twin-in-the-loop observers
  Vehicle System Dynamics, vol. 1, pages 1-27, December 2023
  F. Dettù, S. Formentin, S.M. Savaresi
• AutoDDC: Hyperparameter Tuning for Direct Data-Driven Control
  IEEE Control Systems Magazine, vol. 43, no. 6, pages 98-124, December 2023
  V. Breschi, S. Formentin
• Active Preference Learning for vehicle suspensions calibration
  IEEE Transactions on Control Systems Technology, vol. 31, no. 6, pages 2961-2967, November 2023
  E. Catenaro, A. Dubbini, S. Formentin, M. Corno, S.M. Savaresi
• Model-based and Koopman-based predictive control: a braking control systems comparison
  3rd Modeling, Estimation and Control Conference MECC 2023: Lake Tahoe, USA, October 2–5, 2023
  A. Sassella, V. Breschi, M. Korda, S. Formentin
• Scenario-based model predictive control of water reservoir systems
  3rd Modeling, Estimation and Control Conference MECC 2023: Lake Tahoe, USA, October 2–5, 2023
  R. G. Cestari, A. Castelletti, S. Formentin
• Tuning of subspace predictive controls
  3rd Modeling, Estimation and Control Conference MECC 2023: Lake Tahoe, USA, October 2–5, 2023
  V. Breschi, T. Bou Hamdan, G. Mercère, S. Formentin
• Cross-Coupled SLS for pairs trading: an adaptive control approach
  7th IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, 2023
  F. Abbracciavento, E. Catenaro, A. Ticozzi, S. Formentin
• Uncertainty-aware data-driven predictive control in a stochastic setting
  22nd IFAC World Congress, Yokohama, Japan, 2023
  V. Breschi, M. Fabris, S. Formentin, A. Chiuso
• A practitioner's guide to noise handling strategies in data-driven predictive control
  22nd IFAC World Congress, Yokohama, Japan, 2023
  A. Sassella, V. Breschi, S. Formentin
• Robust tuning of Twin-in-the-Loop vehicle dynamics controls via randomized optimization
  22nd IFAC World Congress, Yokohama, Japan, 2023
  F. Dettù, S. Formentin, S.M. Savaresi
• Practical considerations in reinforcement learning-based MPC for mobile robots
  22nd IFAC World Congress, Yokohama, Japan, 2023
  R. Busetto, V. Breschi, G. Vaccari, S. Formentin
• Continuous-time modeling of financial returns based on Limit Order Book data
  22nd IFAC World Congress, Yokohama, Japan, 2023
  R. Busetto, S. Formentin
• On queue length estimation in urban traffic intersections via inductive loops
  IEEE American Control Conference, San Diego (CA), USA, 2023
  A. Sassella, F. Abbracciavento, S. Formentin, A.G. Bianchessi, S.M. Savaresi
• Auto-tuning of reference models in direct data-driven control
  Automatica, vol. 155, pages 1-11, September 2023
  D. Masti, V. Breschi, S. Formentin, A. Bemporad
• On the Design of Regularized Explicit Predictive Controllers From Input–Output Data
  IEEE Transactions on Automatic Control, vol. 68, no. 8, pages 4977 - 4983, August 2023
  A. Sassella, V. Breschi, S. Formentin
• Data-Driven Model-Reference Control With Closed-Loop Stability: The Output-Feedback Case
  IEEE Control Systems Letters, vol. 7, pages 2431 - 2436, June 2023
  T.O. de Jong, V. Breschi, M. Schoukens, S. Formentin
• Data-driven predictive control in a stochastic setting: a unified framework
  Automatica, vol. 152, pages 1-16, June 2023
  V. Breschi, A. Chiuso, S. Formentin
• Data-driven stabilization of input-saturated systems
  IEEE Control Systems Letters, vol. 7, pages 1640 - 1645, April 2023
  V. Breschi, L. Zaccarian, S. Formentin
• Data-driven mixed-sensitivity control with automated weighting functions selection
  International Journal of Robust and Nonlinear Control, vol. 33, no. 6, pages 3458-3470, April 2023
  N. Valceschini, M. Mazzoleni, S. Formentin, F. Previdi
• Data-driven design of explicit predictive controllers with structural priors
  IEEE Control Systems Letters, vol. 7, pages 1616 - 1621, March 2023
  V. Breschi, A. Sassella, S. Formentin
• Multi-intersection traffic signal control: a decentralized MPC-based approach
  IFAC Journal of Systems and Control, vol. 23, pages 1-10, March 2023
  F. Abbracciavento, F. Zinnari, S. Formentin, A.G. Bianchessi, S.M. Savaresi

2022

• Data-driven design of explicit predictive controllers
  61st IEEE Conference on Decision and Control, Cancùn, Mexico, 2022
  A. Sassella, V. Breschi, S. Formentin
• Kelly-based stock trading via feedback control
  61st IEEE Conference on Decision and Control, Cancùn, Mexico, 2022
  F. Dettù, F. Abbracciavento, S. Formentin
• Overlapping-Horizon MPC: A Novel Approach to Computational Constraints in Real-Time Predictive Control
  Workshop on Next Generation Real-Time Embedded Systems (NG-RES), Budapest, Hungary, 2022
  A. Leva, S. Formentin, S. Seva
• A receding-horizon approach for curriculum management in higher education
  13th IFAC Symposium on Advances in Control Education, Hamburg, Germany, 2022
  T.N. Larsen, R. Busetto, D. Varagnolo, S. Formentin, A. Rasheed
• Noise handling in data-driven predictive control: a strategy based on dynamic mode decomposition
  4th Annual Conference on Learning for Dynamics and Control, Stanford (CA), USA, 2022
  A. Sassella, V. Breschi, S. Formentin
• A receding-horizon estimation and control framework for the content sequencing problem
  European Control Conference (ECC), London, UK, 2022
  R. Busetto, T.N. Larsen, A. Rasheed, D. Varagnolo, S. Formentin
• Auto-calibration with stability margins for active damping control in electric drivelines
  European Control Conference (ECC), London, UK, 2022
  E. Catenaro, S. Formentin, M. Corno, S.M. Savaresi
• On optimal gear shifting in city bicycles
  IFAC Journal of Systems and Control, vol. 22, pages 1-11, December 2022
  D. Savaresi, F. Dettù, C. Benzoni, S. Formentin, S.M. Savaresi
• A data-driven switching control approach for braking systems with constraints
  Nonlinear Analysis: Hybrid Systems, vol. 46, pages 1-19, November 2022
  A. Sassella, V. Breschi, S. Formentin, S.M. Savaresi
• Hourly operation of a regulated lake via Model Predictive Control
  2nd IFAC Workshop on Control Methods for Water Resource Systems CMWRS 2022: Milano, Italy, September 22–23, 2022
  R. G. Cestari, A. Castelletti, S. Formentin
• Kernel-based system identication with manifold regularization: a Bayesian perspective
  Automatica, vol. 142, pages 1-9, August 2022
  M. Mazzoleni, A. Chiuso, M. Scandella, S. Formentin, F. Previdi
• Driving style assessment system for agricultural tractors: design and experimental validation
  Agronomy, vol. 12, no. 3, pages 1-22, 2022
  F. Dettù, S. Formentin, S.M. Savaresi
• Direct data-driven design of LPV controllers with soft performance specifcations
  Journal of the Franklin Institute, vol. 359, no. 6, pages 816-836, 2022
  M. van Meer, V. Breschi, T. Oomen, S. Formentin
• Kernel-based identification of asymptotically stable continuous-time linear dynamical systems
  International Journal of Control, vol. 95, no. 6, pages 1668-1681, 2022
  M. Scandella, M. Mazzoleni, S. Formentin, F. Previdi
• Data-driven stock trading in financial markets: an adaptive control approach
  International Journal of Control, vol. 95, no. 4, pages 1032-1041, 2022
  F. Abbracciavento, S. Formentin, S.M. Savaresi
• A kernel-based control approach for multi-period assets allocation based on lower partial moments
  IFAC Engineering Applications of Artificial Intelligence, vol. 110, pages 1-11, April 2022
  M. Mazzoleni, G. Maroni, S. Formentin, F. Previdi
• Electrification potential of fuel-based vehicles and optimal placing of charging infrastructure:a large-scale vehicle-telematics approach
  IEEE Transactions on Transportation Electrification, vol. 8, no. 1, pages 466-479, March 2022
  F. Zinnari, S.C. Strada, M. Tanelli, S. Formentin, S.M. Savaresi
• Learning-based hierarchical control of water reservoir systems
  IFAC Journal of Systems and Control, vol. 19, pages 1-10, March 2022
  P. Kergus, S. Formentin, M. Giuliani, A. Castelletti

2021

• Direct data-driven model-reference control with Lyapunov stability guarantees
  60th IEEE Conference on Decision and Control, Austin (TX), USA, 2021
  V. Breschi, C. De Persis, S. Formentin, P. Tesi
• Real-time optimal traffic management in signal-controlled intersections: a receding-horizon approach
  60th IEEE Conference on Decision and Control, Austin (TX), USA, 2021
  F. Abbracciavento, F. Zinnari, S. Formentin, A.G. Bianchessi, S.M. Savaresi
• Nonparametric continuous-time identication of linear systems: theory, implementation and experimental results
  Modeling, Estimation and Control Conference, Austin (TX), USA, 2021
  M. Mazzoleni, M. Scandella, S. Formentin, F. Previdi
• Model-based estimation of the line tension in a fishing reel
  Modeling, Estimation and Control Conference, Austin (TX), USA, 2021
  F. Dettù, M. Centurioni, S. Formentin, S.M. Savaresi
• On speed estimation from incremental encoders with tunable error bounds
  3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, online, 2021
  D. Savaresi, M. Centurioni, S. Formentin, S.M. Savaresi
• Direct data-driven LPV control for active braking in aircraft
  4th IFAC Symposium on Linear Parameter Varying Systems (LPVS), Milan, Italy, 2021
  G. Papa, V. Breschi, M. Tanelli, S. Formentin, S.M. Savaresi
• On data-driven design of LPV controllers with flexible reference model
  4th IFAC Symposium on Linear Parameter Varying Systems (LPVS), Milan, Italy, 2021
  V. Breschi, M. van Meer, T. Oomen, S. Formentin
• Design and implementation of a MPC-based rear-wheel steering controller for sports cars
  2021 IEEE Conference on Control Technology and Applications (CCTA), San Diego (CA), USA, 2021
  A. Lucchini, F. Paganelli Azza, M. Corno, S. Formentin, S.M. Savaresi
• Force estimation in electro-mechanical systems: theory and experiments
  2021 IEEE Conference on Control Technology and Applications (CCTA), San Diego (CA), USA, 2021
  G. Riva, S. Formentin, S.M. Savaresi
• Anomaly detection via distributed sensing: a VAR modeling approach
  19th IFAC Symposium on System Identification, Padova, Italy, 2021, pages 85-90
  F. Abbracciavento, S. Formentin, J. Balocco, A. Rota, V. Manzoni, S.M. Savaresi
• Piecewise nonlinear regression with data augmentation
  19th IFAC Symposium on System Identification, Padova, Italy, 2021, pages 85-90
  M. Mazzoleni, V. Breschi, S. Formentin
• Direct data-driven design of switching controllers for constrained systems
  IEEE American Control Conference, New Orleans (LA), USA, 2021.
  A. Sassella, V. Breschi, S. Formentin
• On damping ratio estimation in electronic semi-active suspensions
  IEEE American Control Conference, New Orleans (LA), USA, 2021.
  D. Savaresi, M. Chini, S. Formentin, M. Konishi, S.M. Savaresi
• Data-driven Mass Estimation in Continuously Variable Transmission Agricultural Tractors
  IEEE American Control Conference, New Orleans (LA), USA, 2021.
  D. Savaresi, S. Formentin, S.M. Savaresi
• Proper closed-loop specifications for data-driven model-reference control
  24th International Symposium on Mathematical Theory of Networks and Systems, Cambridge, UK, 2021, pages 46-51
  V. Breschi, S. Formentin
• Enhancing skyhook for semi-active suspension control via machine learning
  IFAC Journal of Systems and Control, vol. 17, pages 1-10, September 2021
  G. Savaia, S. Formentin, G. Panzani, M. Corno, S.M. Savaresi
• Experimental automatic calibration of a semi-active suspension controller via Bayesian optimization
  Control Engineering Practice, vol. 112, pages 1-11, July 2021
  G. Savaia, Y. Sohn, S. Formentin, M. Corno, G. Panzani, S.M. Savaresi
• Control-oriented regularization for linear system identification
  Automatica, vol. 127, pages 1-10, May 2021
  S. Formentin, A. Chiuso
• h-TPMS: a hybrid tire pressure monitoring system for road vehicles
  IFAC Mechatronics, vol. 74, pages 1-9, April 2021
  S. Formentin, L. Onesto, T. Colombo, S.M. Savaresi
• A note on the numerical solutions of kernel-based learning problems
  IEEE Transactions on Automatic Control, vol. 66, no. 2, pages 940-947, February 2021
  M. Scandella, M. Mazzoleni, S. Formentin, F. Previdi

Patents

• Misurare un carico su un veicolo agricolo
  CNH Industrial S.p.A. and Politecnico di Milano, 102024000013171, 2024
  A. Lucchini, S. M. Savaresi, S. Formentin, M. Norgia, R. G. Cestari, F. Cavedo
• Procedimento per la stima della pressione degli pneumatici di un veicolo
  Maserati S.p.A. and Politecnico di Milano, 102018000020212, 2018
  T. Colombo, S. Formentin, A. Pozzato, S.M. Savaresi
• Metodo di stima di una forza frenante esercitabile tra pastiglia e disco freno da un sistema elettrico di frenatura di stazionamento di un veicolo e sistema elettrico di frenatura di stazionamento di un veicolo implementante tale metodo
  Brembo S.p.A. and Politecnico di Milano, 102017000086468, 2017
  S. Dossi, A. Tarantini, G. Calamai, G. Rallo, S. Formentin, S.M. Savaresi
• Dispositivo e metodo per la determinazione della potenza impressa sui pedali di una bicicletta
  Favero Electronics S.r.l. and Politecnico di Milano, 102017000086468, 2017
  S.M. Savaresi, G. Favero, S. Formentin, D. Nava
• Dispositivo e metodo per la determinazione della potenza impressa sui pedali di una bicicletta
  Favero Electronics S.r.l. and Politecnico di Milano, 102017000043114, 2017
  S.M. Savaresi, G. Favero, S. Formentin, D. Nava
• Dispositivo per la determinazione di una grandezza cinematica di una bicicletta e della cadenza di pedalata esercitata sui pedali di detta bicicletta
  E-Novia S.r.l. and Politecnico di Milano, 102015000076011, 2015
  S. Formentin, M. Corno, S.M. Savaresi, G. Rallo
• Metodo per la predizione della distanza utente-veicolo in servizi car-sharing on-demand
  Politecnico di Milano, VI2014A000187, 2014
  S.M. Savaresi, S. Formentin, A.G. Bianchessi
• Sistema e metodo di controllo della trazione in un veicolo a due ruote
  Piaggio Group S.p.A. and Politecnico di Milano, MI2009A0010134, 2009
  S.M. Savaresi, M. Corno, S. Formentin, L. Fabbri