PSV Eindhoven sneaked through to the Champions League semi-finals with a 4-2 penalty shootout win over French club Olympique Lyon on Wednesday.

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Robert hit the winning penalty for the 1988 European champions following a 1-1 draw after extra-time that had left the aggregate scores level at 2-2.

It was the first knockout match in Champions League history, apart from the final, to be decided on a penalty shootout.

In normal time France striker Sylvain Wiltord gave Lyon a 10th-minute lead. PSV levelled five minutes into the second half with a fierce shot by Brazilian defender Alex.

In the semi-finals, PSV will face either AC Milan or Inter Milan, whose match on Tuesday was abandoned after crowd trouble with AC Milan leading 1-0 on the night, 3-0 on aggregate.