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Roccabaldesca is a ruined castle founded in the fifth century by Tebaldi, from which it derives its name. In the eighth century it was very prosperous, protected from the Abbey of Farfa and in the fourteenth century had an importance equal to Salisano.

In the late sixteenth century the castle was abandoned for lack of defensive capabilities and the inhabitants took refuge in the castles nearby. Clement VIII restored the function of the fortress but residents could not pay taxes and were sentenced to prison or harassment by the apostolic commissioners. In 1592, the inhabitants of Roccabaldesca sought asylum in Salisano and were welcomed in the town. Everything is documented in the archives of Salisano.