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Manifesto of the historic power of the town, it was built in the 16th century to replace the original access to the castle which, with its narrow streets, still retains the medieval structure by the Farfensi monks. The castle is documented from the year 1000; it became a property of the bishop of Fermo and, later, it belonged to Grimaldo, son of Attone dei Nobili della Marca. It was also the center of political discussions between Manfredi and the local Ghibelline community. Today, Petriolo is appreciated for its historic center and the square, dedicated to Saint Martin, one of the most striking panoramic points of the town. Nearby the square is located the Town Hall and the Church of Madonna della Misericordia and the Church of Santi Martino e Marco.