Preprints
Journal papers
2013
 C. Altafini. Consensus problems on networks with antagonistic interactions. IEEE Transactions on Automatic Control, 58(4):935946, 2013.
 G. Iacono, C. Altafini and V. Torre. Early phase of plasticityrelated gene regulation and SRF dependent transcription in the hippocampus. PLoS ONE, 8(7): e68078, 2013.
 G. Facchetti, G. Iacono, G. De Palo and C. Altafini. A ratedistortion theory for gene regulatory networks and its application to logic gate consistency Bioinformatics, 29(9):11661173, 2013.
 G. De Palo, G. Facchetti, M. Mazzolini, A Menini, V. Torre and C. Altafini. Common dynamical features of sensory adaptation in photoreceptors and olfactory sensory neurons. Nature Scientific Reports, 3:1251, 2013.
 F. Ticozzi, K. Nishio and C. Altafini. Stabilization of Stochastic Quantum Dynamics via Open and Closed Loop Control. IEEE Transactions on Automatic Control, 58(1):7485, 2013.
2012
 C. Altafini, A. M. Bloch, M. R. James, A. Loria and P. Rouchon. Guest Editorial: Special Issue on Control of Quantum Mehanical Systems. Special Issue on "Quantum Control", IEEE Transactions on Automatic Control, 57(8):18931895, 2012.
 C. Altafini and F. Ticozzi. Modeling and Control of Quantum Systems: An Introduction. Special Issue on "Quantum Control", IEEE Transactions on Automatic Control, 57(8):18981917, 2012.
 G. Facchetti, M. Zampieri, and C. Altafini. Predicting and characterizing selective multiple drug treatments for metabolic diseases and cancer. BMC Systems Biology, 6:115, 2012.
 G. Facchetti, G. Iacono, and C. Altafini. Exploring the lowenergy landscape of largescale signed social networks. Physical Review E, 86:036116, 2012.
 C. Altafini. Dynamics of opinion forming in structurally balanced social networks. PLoS ONE, 7(6): e38135, 2012.
 G. De Palo, A. Boccaccio, A. Miri, A. Menini and C. Altafini.
A dynamical feedback model for adaptation in the olfactory transduction pathway. Biophysical Journal, 102(12): 26772686, 2012.
 Q. K. Beg, M. Zampieri, N. Klitgord, S. B. Collins, C. Altafini, M. H. Serres, D. Segre`.
Detection of transcriptional triggers in the dynamics of microbial growth: application to the respiratoryversatile bacterium Shewanella oneidensis.
Nucleic Acids Research, 40(15):71327149, 2012.
 N. Soranzo, G. Iacono, F. Ramezani and C. Altafini. Decompositions of largescale biological systems based on dynamical properties. Bioinformatics, 28(1):7683, 2012
2011
 G. Facchetti, G. Iacono, and C. Altafini. Computing global structural balance in largescale signed social networks. PNAS, 108(52):209538, 2011.
 M. Zampieri, G. Legname, D. Segre' and C. Altafini.
A systemlevel approach for deciphering the transcriptional response to prion infection., Bioinformatics, 27(24):34073414, 2011.
 G. De Palo, F. Eduati, M. Zampieri, B. Di Camillo, G. Toffolo and C. Altafini. Adaptation as a genomewide autoregulatory principle in the stress response of yeast.
IET Systems Biology, 5(4):269283, 2011.
2010
 C. Altafini, P. Cappellaro and D. Cory.
Feedback schemes for radiation damping suppression in NMR: a controltheoretical perspective.
Systems and Control Letters, 59 (12):782–86, 2010.
 G. Iacono, and C. Altafini. Monotonicity, frustration, and ordered response: an analysis of the energy landscape of perturbed largescale biological networks.
BMC Systems Biology, 4:83 2010
 G. Iacono, F. Ramezani, N. Soranzo and C. Altafini. Determining the distance to monotonicity of a biological network: a graphtheoretical approach.
IET Systems Biology, 4(3):223235 2010
 J. Coatleven and C. Altafini. A kinetic mechanism inducing oscillations in simple chemical reactions networks.
Mathematical Biosciences and Engineering, 7(2):303314, 2010.
 S. Pegoraro, F. D. Broccard, M. E. Ruaro, D. Bianchini, D. Avossa, G. Pastore, G. Bisson, C. Altafini and V Torre.
Sequential steps underlying neuronal plasticity induced by a transient exposure to gabazine.
J Cell Physiol., 222(3):71328, 2010
2009
 N. Soranzo and C. Altafini. ERNEST: a toolbox for chemical reaction network theory.
Bioinformatics, 25(21), pp. 28532854, 2009.
 M. Zampieri, G. Legname and C. Altafini.
Investigating the conformational stability of prion strains through a kinetic replication model.
PLoS Computational Biology, 5(7): e1000420, 2009.
 N. Soranzo, M Zampieri L. Farina and C. Altafini.
mRNA stability and the unfolding of gene expression in the longperiod yeast metabolic cycle
BMC Systems Biology, 3:18, 2009.
 F. D. Broccard, S. Pegoraro, M. E. Ruaro, C. Altafini and V Torre.
Characterization of the time course of changes of the evoked electrical activity in a model of a chemicallyinduced neuronal plasticity.
BMC Research Notes, 2:13, 2009.
 C. Altafini. Controllability and simultaneous controllability of isospectral bilinear control systems on complex flag manifolds.
Systems and Control Letters, 58:21316, 2009.
2008
 M. Zampieri, N. Soranzo, D. Bianchini and C. Altafini.
Origin of coexpression patterns in E.coli and S.cerevisiae emerging from reverse engineering algorithms.
PLoS ONE, 3(8):e2981, 2008.
 M. Zampieri, N. Soranzo and C. Altafini.
Discerning static and causal interactions in genomewide reverse engineering problems, Bioinformatics, 24(13):15101515, 2008.
2007
 N. Soranzo, G. Bianconi and C. Altafini. Comparing relevance network algorithms for reverse engineering of large scale gene regulatory networks: synthetic vs real data.
Bioinformatics, 23(13):16401647, 2007.
 C. Altafini. Feedback control of spin systems.
Quantum Information Processing, 6(1):936, 2007
 C. Altafini. Feedback stabilization of quantum ensembles: a global convergence analysis on complex flag manifolds
IEEE Transactions on Automatic Control, 52(11):20192028, 2007.
2006
 C. Altafini. Homogeneous polynomial forms for simultaneous stabilizability of families of linear control systems: a tensor product approach
IEEE Transactions on Automatic Control,51(9):15661571, 2006
 C. Altafini and T. F. Havel Reflection
symmetries for multiqubit densities
Journal of Mathematical Physics , 47, 032104, 2006.
2005
 C. Altafini. Commuting multiparty quantum observables and local compatibility
Physical Review A, 72:012112, 2005.
 C. Altafini. Explicit WeiNorman formulae for matrix Lie groups via Putzer's method
Systems and Control Letters, 54(11):11211130, 2005.
 C. Altafini. On the
exact unitary integration of timevarying quantum Liouville equations
Rendiconti del Seminario
Matematico dell'Universita e del Politecnico di Torino, 63(4):918, 2005.
2004
 C. Altafini. Coherent
control of open quantum dynamical systems
Physical Review A,
70:062321, 2004.
 C. Altafini. Representing
multiqubit unitary evolutions via Stokes tensors
Physical Review A,
70:032331, 2004.
 C. Altafini. Tensor
of coherences
parameterization of multiqubit density operators for entanglement
characterization
Physical Review A 69:012311, 2004.
 C. Altafini.
Reduction by group symmetry of second order variational problems on a
semidirect product of Lie groups with positive definite Riemannian
metric.
ESAIM: Control, Optimisation and Calculus of Variations,
10(4):526548, 2004.
 C. Altafini. Redundant
robotic
chains on Riemannian submersions
IEEE Transactions on Robotics and Automation,
20(2):335340, 2004.
2003
 C. Altafini. Controllability
properties for finite dimensional quantum Markovian master equations
Journal of Mathematical Physics 44(6):23572372, 2003.
 C. Altafini. Parameter
differentiation
and quantum state decomposition for time varying Schrodinger equations
Reports on Mathematical Physics, 52(3):381400, 2003.
 C. Altafini.
Geometric motion
control for a kinematically redundant robotic chain: application to a
holonomic mobile manipulator
Journal of Robotic Systems, 20(5):211227, 2003.
 C. Altafini and R. Frezza Motion on
submanifolds of noninvariant holonomic constraints for a kinematic
control system evolving on a matrix Lie group
Systems and Control Letters, 50(3):241250, 2003.
 C. Altafini. Path
following with reduced offtracking for multibody wheeled vehicles
IEEE Transaction on Control Systems Technology,
11(4):598605, 2003.
2002
 C. Altafini. On the
generation of sequential unitary gates from continuous time Schrodinger
equations driven by external fields
Quantum Information Processing, 1(3):207224, 2002.
 C. Altafini. Controllability
of quantum mechanical systems by root space decomposition of su
(N)
Journal of Mathematical Physics, 43(5):20512062, May
2002.
 C. Altafini. The
reachable set of a linear endogenous switching system.
Systems and Control Letters, 47(4):343353, 2002.
 C. Altafini. Following
a path of varying curvature as an output regulation problem
IEEE Transactions on Automatic Control, 47(9):15511556,
2002.
2001
 C. Altafini, A. Speranzon and B. Wahlberg A
feedback control scheme for reversing a truck and trailer vehicle
IEEE Transactions on Robotics and Automation,
17(6):915922, December 2001.
 C. Altafini. Some
properties of the general ntrailer
International Journal of Control, vol. 74, n. 4, p.
409424, March 2001.
1999
 C. Altafini. A path
tracking criterion for an LHD articulated vehicle
International Journal of Robotics Research, vol. 18, n.
5, p. 435441, May 1999
Book chapters
 C. Altafini. Positivity
for matrix systems: a case study from quantum mechanics
L. Benvenuti, A. De Santis and L. Farina (eds) Positive Systems
. LNCS vol. 294, SpringerVerlag, 2003.
 C. Altafini, A. Speranzon and K. H. Johansson. Hybrid
control of a truck and trailer vehicle
Hybrid Systems V: Computation and Control. LNCS,
SpringerVerlag, 2002.
 C. Altafini. The De
Casteljau algorithm on SE(3)
A. Isidori, F. LamnabhiLagarrigue and W. Respondek (eds.)
Nonlinear Control in Year 2000, SpringerVerlag, 2000.
 C. Altafini. A
matrix Lie
group of Carnot type for filiform subRiemannian structures and its
application to control systems in chained form
A.M. d'Azevedo Breda, F.J. Craveiro de Carvalho, J.M. Nunes da Costa
and B. Wegner (eds.) Summer school on Differential Geometry ,
1999.
Conference papers
 C. Altafini. Achieving consensus on networks with antagonistic interactions.
Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii,
December 2012.
 C. Altafini. Dynamics of opinion forming in structurally balanced social networks.
Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii,
December 2012.
 F. Ticozzi, K. Nishio and C. Altafini. Environmentassisted and feedbackassisted stabilization of quantum stochastic evolutions.
Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii,
December 2012.
 G. Facchetti and C. Altafini.
Dosedependent drug synergisms in flux balance analysis. 9th International Workshop on Computational Systems Biology, Ulm, June 2012.
 G. Iacono and C. Altafini.
Average frustration and phase transition in largescale biological networks: a statistical physics approach. 8th IFAC Symposium ``Nonlinear Control Systems'', Bologna, 2010.
 G. De Palo, A. Boccaccio, A. Menini and C. Altafini.
Short and longterm adaptation in olfactory transduction as a leaky integral feedback. Proc. 48th Conf. Dec. Contr., Shanghai, China, 2009
 C. Altafini, P. Cappellaro and D. Cory. Feedback schemes for radiation damping suppression in NMR: a controltheoretical perspective. Proc. 48th Conf. Dec. Contr., Shanghai, China, 2009
 F. Ramezani, G. Iacono, N. Soranzo and C. Altafini.
On the distance to monotonicity of a biological network: a graphtheoretical approach. Proc. of European Control Conf. , Budapest, 2009, to appear.
 M. Zampieri G. Legname and C. Altafini.
Prion kinetic replication models and straindependent stability (to denaturation). Proc. of European Control Conf. , Budapest, 2009, to appear.
 M. Zampieri, N. Soranzo and C. Altafini. Modeling the genomewide transient response to stimuli in yeast: adaptation through integral feedback. Proc. of the 47th IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008
 J. Coatleven and C. Altafini. kinetic mechanism inducing oscillations in simple chemical reactions networks
Proc. of the 47th IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008
 N. Soranzo, M. Zampieri, D. Bianchini and C. Altafini. Network inference from gene expression profiles: what ''physical'' network are we seeing?
Proceedings of FOSBE 2007.
 N. Soranzo, G. Bianconi, C. Altafini. Linear and nonlinear methods for gene regulatory network inference.
7th IFAC Symposium ``Nonlinear Control Systems'', Pretoria, South Africa, 2007.
 C. Altafini. Controllability of isospectral bilinear control systems on complex flag manifolds.
7th IFAC Symposium ``Nonlinear Control Systems'', Pretoria, South Africa, 2007.
 C. Altafini. Feedback stabilization of quantum ensembles: a global convergence analysis on complex flag manifolds.
Proc. 45th IEEE Conference on Decision and Control, S. Diego, CA, December 2006.
 C. Altafini. Homogeneous Polynomial Forms for Simultaneous Stabilizability of Families of Linear Control Systems: a
Tensor Product Approach.
Proc. 45th IEEE Conference on Decision and Control, S. Diego, CA, December 2006.
 C. Altafini. Feedback control of spin systems.
Proc. 44th IEEE Conference on Decision and Control, Seville, Spain, December 2005.
 C. Altafini. Open quantum dynamical systems driven by coherent controls: structure of the sets of reachable states.
MTNS Mathematical Theory of Networks and Systems,Leuven, Belgium, July, 2004.
 C. Altafini. Quantum Markovian master equation driven by
coherent controls: a controllability analysis.
Proc. 42nd IEEE Conference on Decision and Control, Maui, Hawaii,
December 2003.
 C. Altafini. Controllability of open quantum systems: the two
level case.
Proc. PHYSCON03, St. Petersburg, Russia, August 2003.
 C. Altafini. On the generation of elementary quantum gates from
continuous time forced Schrodinger equation.
Proc. 41st IEEE Conference on Decision and Control, Las Vegas, December
2002.
 C. Altafini. Explicit WeiNorman formulae for matrix Lie groups.
Proc. 41st IEEE Conference on Decision and Control, Las Vegas, December
2002.
 C. Altafini. Redundant robotic chains on Riemannian manifolds.
Proc. 41st IEEE Conference on Decision and Control, Las Vegas, December
2002.
 C. Altafini. Sufficient conditions for controllability of finite
level quantum systems via structure theory of semisimple Lie algebras.
MTNS Mathematical Theory of Networks and Systems, Notre Dame (IN),
August 2002.
 C. Altafini. Use of WeiNorman formulae and parameter
differentiation in quantum computing.
MTNS Mathematical Theory of Networks and Systems, Notre Dame (IN),
August 2002.
 C. Altafini and R. Frezza. Motion on constrained submanifolds
for a kinematic control system evolving on a matrix Lie group.
NOLCOS 2001, St. Petersburg, Russia.
 C. Altafini. Inverse
kinematic along a geometric spline for a holonomic mobile manipulator.
IEEE International Conference on Robotics and Automation, Seoul 2001.
 C. Altafini and A. Speranzon. Backward
line tracking control of a radiocontrolled truck and trailer.
IEEE International Conference on Robotics and Automation, Seoul 2001.
 R. Frezza and C. Altafini.
Autonomous landing by computer vision: an application of path following
on SE(3).
Proc. 39th IEEE Conference on Decision and Control , December 2000.
 C. Altafini. On the
Liealgebraic properties of control systems in chained form.
MTNS Mathematical Theory of Networks and Systems, Perpignan, France
June 2000.
 C. Altafini. Switching
systems and scalar polysystems on matrix Lie groups.
MTNS Mathematical Theory of Networks and Systems, Perpignan, France
June 2000.
 C. Altafini, R. Frezza and J. Galic. Observing the Load Dynamic
of an Overhead Crane with Minimal Sensor Equipment.
IEEE International Conference on Robotics and Automation , San
Francisco, May 2000.
 C. Altafini. Zero dynamics and offtracking bounds for the path
following problem of wheeled vehicles.
Proc. 38th IEEE Conference on Decision and Control, December 1999.
 C. Altafini. General ntrailer, differential flatness and
equivalence.
Proc. 38th IEEE Conference on Decision and Control, December 1999.
 C. Altafini. Controllability and singularities in the ntrailer
system with kingpin hitching.
IFAC World Congress 1999, Beijing, China, July 1999.
 C. Altafini. Curve negotiating using polar polynomials for
nonholonomic vehicles.
IFAC World Congress 1999, Beijing, China, July 1999.
 C. Altafini. Following a path of varying curvature as an output
regulation problem.
1999 IEEE Mediterranean Control Conference . Haifa, Israel, June 1999.
 C. Altafini. Why to use an articulate vehicle in underground
mining operations?
1999 IEEE International Conference on Robotics and Automation, Detroit,
May 1999.
 C. Altafini. The general ntrailer problem: conversion into
chained form.
Proc. 37th IEEE Conference on Decision and Control, Tampa FL, Decemebr
1998.
 C. Altafini and P.O. Gutman. Path following with reduced
offtracking for the ntrailer system.
Proc. 37th IEEE Conference on Decision and Control, Tampa FL, Decemebr
1998.
 C. Altafini and P.O. Gutman. Path following with reduced
offtracking for carlike nonholonomic vehicles.
MTNS Mathematical Theory of Networks and Systems, Padova, July 1998.
 C. Altafini and M. Furini. Robust Control of a Flash Dryer Plant.
Proc. 1997 IEEE Conference on Control Applications, Hartford, CN, USA,
Ottober 1997.

Geometric control methods for nonlinear systems and robotic applications (pdf file)
Division of Optimization and Systems Theory, Department of Mathematics,
Royal Institute of Technology, Stockholm, Sweden, May 2001.
