A second individual of unusually acute insight was Niccolò Machiavelli, whose prescriptions for Florence's regeneration under strong leadership have often been seen as a legitimisation of political expediency and even malpractice. In other words, Machiavelli was a political thinker, perhaps most renowned for his political handbook, titled The Prince, which is about ruling and the exercise of power. Commissioned by the Medici, Machiavelli also wrote the Florentine Histories, the history of the city. Florentines drove out the Medici for a second time and re-established a republic on 16 May 1527. Restored twice with the support of both Emperor Charles V and Pope Clement VII (Giulio de Medici), the Medici in 1532 became hereditary dukes of Florence, and in 1569 Grand Dukes of Tuscany, ruling for two centuries. In all Tuscany, only the Republic of Lucca (later a Duchy) and the Principality of Piombino were independent from Florence.